SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
main.cpp:	rt->pid = pid;
main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
main.cpp:		printf("mode %d \n", rt->userMode);
main.cpp:		userExit = rt->userExit;
main.cpp://		printf("exit: %d \n", rt->userExit);
main.cpp:		switch(rt->userMode)
main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
main.cpp:					if(rt->miniMode == TRUE)
main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
main.cpp://					if(rt->miniMode == TRUE)
main.cpp:			rt->q[i] = q[i];
main.cpp:		rt->time = servoTimer.time() - timeStart;
main.cpp:		time = rt->time;
main.cpp:	if(rt->miniMode == TRUE)
main.cpp:	rt->exit_flag = 1;
printer.cpp:		if(kill(rt->pid,0) == -1)
printer.cpp:			// rt->time is time elapsed in control process
printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
printer.cpp:			printf("time:	 %6.1f\n", rt->time);
printer.cpp:			switch(rt->user_mode)
printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
printer.cpp:			//			rt->x[1], rt->x[2]);
printer_org.cpp:		if(kill(rt->pid,0) == -1)
printer_org.cpp:			// rt->time is time elapsed in control process
printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
printer_org.cpp:			switch(rt->user_mode)
printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
printer_org.cpp:			//			rt->x[1], rt->x[2]);
printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
printer_org.cpp:						rt->xee[1], rt->xee[2]);
printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
printer_org.cpp:						57.3*rt->jgoal[2],
printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
printer_org.cpp:						57.3*rt->jgoal[2],
printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
printer_org.cpp:		//				rt->x[1], rt->x[2]);
printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
printer_org.cpp:						rt->xee[1], rt->xee[2]);
printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
printer_org.cpp:						rt->F[1], rt->F[2]);
printer_org.cpp:						'x'+rt->compliance_direction);
printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
printer_org.cpp:			//			rt->x[1], rt->x[2]);
printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
printer_org.cpp:						rt->xee[1], rt->xee[2]);
printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
printer_org.cpp:							rt->desiredForce[2]);
printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
printer_org.cpp:					rt->force[1], rt->force[2]);
printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
printer_org.cpp:						rt->F[1], rt->F[2]);
printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
printer_org.cpp:							rt->desiredForce[2]);
printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
printer_org.cpp:					rt->force[1], rt->force[2]);
printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
printer_org.cpp:						rt->F[1], rt->F[2]);
printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
printer_org.cpp:			//			rt->x[1], rt->x[2]);
printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
printer_org.cpp:						rt->xee[1], rt->xee[2]);
printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
printer_org.cpp:						57.3*rt->jgoal[2],
printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
printer_org.cpp:					rt->force[1], rt->force[2]);
user.cpp:		if(kill(rt->pid,0) == -1)
user.cpp:						rt->userMode = DISPLAY_INFO;
user.cpp:						rt->userMode = IDLE;
user.cpp:						rt->userExit = 1;
user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
user.cpp:							rt->userMode = ENCODER_TEST;
user.cpp:						rt->userMode = FLOAT;
user.cpp:						rt->userMode = INIT_POSITION;
user.cpp:						rt->userMode = JOINT_SERVO;
user.cpp:						rt->xtime = rt->time;
user.cpp:						printf("Time: %f \n", rt->xtime);
user.cpp:						rt->qgoal[0] = tmp[0];
user.cpp:						rt->qgoal[1] = tmp[1];
user.cpp:						rt->qgoal[2] = tmp[2];
user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
user.cpp:						calcSpline(rt->qgoal);
user.cpp:						rt->miniMode = TRUE;
user.cpp:						rt->miniMode = FALSE;
user.cpp:		rt->tf[i] = 0.0;
user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
user.cpp:		if(tf[i]> rt->tf[i])
user.cpp:			rt->tf[i]= tf[i];		
user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
user.cpp:		if(rt->tf[i] > 0.0)
user.cpp:			rt->a0[i] = rt->q[i];
user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
user.cpp:			rt->a0[i] = 0.0;
user.cpp:			rt->a2[i] = 0.0;
user.cpp:			rt->a3[i] = 0.0;
user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:main.cpp:	rt->pid = pid;
userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:main.cpp:		userExit = rt->userExit;
userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:main.cpp:		switch(rt->userMode)
userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:main.cpp:			rt->q[i] = q[i];
userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:main.cpp:		time = rt->time;
userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:main.cpp:	rt->exit_flag = 1;
userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:printer.cpp:			switch(rt->user_mode)
userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:user.cpp:						rt->userMode = IDLE;
userMode:user.cpp:						rt->userExit = 1;
userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:user.cpp:						rt->userMode = FLOAT;
userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:user.cpp:						rt->xtime = rt->time;
userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:user.cpp:						rt->miniMode = TRUE;
userMode:user.cpp:						rt->miniMode = FALSE;
userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desired
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_count);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque command to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt->tf[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory start time
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load torque commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda controller
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExit); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tf[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tf[i]) ;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt->tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from Honda controluserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from Honda conuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("time:	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_des[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoal[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("Force sensor:  %7.3f %7.3f %7.3f \n", rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3], rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tau_des[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt->force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SM->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tf[i]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tf[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("axis[%d]: qgoal:%7.2f, q: %7.2f; ", i, qgoal[i], rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],rt->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltage[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);			// setuserMode: load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,rt->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtime;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] = q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count from HonduserMode:a controluserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	//		printf("time:	 %6.1f, %6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control process
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop count from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.3f %7.3f %7.3f \n",rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//			printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.2f %7.2f %7.2f \n",rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("xgoal	: %7.4f %7.4f %7.4f \n",rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]); 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForce[1],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("F(N)	: %7.3f %7.3f %7.3f \n",rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//		printf("x(m)	: %7.4f %7.4f %7.4f \n",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					printf("x(m)	: %7.3f %7.3f %7.3f \n",rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt->q[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], 57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 57.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rt->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->tau_des[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			printf("Force sensor: %7.3f %7.3f %7.3f \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->userExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TEST;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*2.0));
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:	printf("Motion to be achieved in: %f, %f, %f \n", rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rt->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->ad_voltage[0] = 3.userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	printf("ad voltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->pid = pid;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit != 1))
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->userMode);userMode:			// setuserMode: load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplineParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in control procuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is the servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed in control userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count is the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_des[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//				rt->x[1], rt->x[2]);
userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_direction);
userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xgoal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->desiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[2]);
userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->force[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]);
userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[2]);
userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xee[2]);
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userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt->jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->q_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tau[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("user entered exit: %d, %d \n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->userMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FLOAT;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt->qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i]))/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[i] > 0.0)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(qgoal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharedMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	while(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->userExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setLoadTorqueCommand(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:					arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsed in conuserMode:trol procuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time elapsed inuserMode: control userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)
userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 57.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INFO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:							rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = INIT_POSITION;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVO;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt->xtime);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rt->q[2], 
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoal[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpline(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		tf[i] = abs((3.0*(qgoal[i] - rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> rt->tf[i])
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[i];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: %f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userExit;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp://		printf("exit: %d \n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		switch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRUE)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is time elapsuserMode:ed in conuserMode:trol procuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_mode)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], rt->x[2]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		if(kill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->user_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiredForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						userMode:rt->xee[1], 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57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0], rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DISPLAY_INuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = IDLE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1;
userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						printf("Time: %f \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[0] = tmp[0];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tmp[1];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tmp[2];
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt->q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TRUE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FALSE;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		if(tf[i]> ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]= tf[i];		
userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0, a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		userExit = rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt->exit_flag = 1;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:		if(kill(rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			switch(rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:			//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			switch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:							rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], 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57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:				rt->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userMode = DuserMode:ISPLAY_INuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		rt->tf[i] = 0.0;
userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		ifuserMode:(tf[i]> ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] = 0.0;
userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		printf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:		time = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 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57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
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userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 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57.3*rt->dq[4]);
userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: 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rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:						rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a2[i] userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 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57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], 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57.3*userMode:rt->q[1], 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rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 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57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
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rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], 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57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
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5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 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57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], 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57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], 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57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 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rt->x[2]);
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rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 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rt->x[2]);
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rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], 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57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 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57.3*rt->q[4]);
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userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 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57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 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rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], 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rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], 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57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 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57.3*userMode:rt->q[1], 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57.3*rt->q[4]);
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57.3userMode:*rt->dq[1], 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57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 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57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
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rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
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rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
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rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], 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57.3*rt->q[4]);
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57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 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rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
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rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], 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rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
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rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
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rt->F[2]);
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rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
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rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
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rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], 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rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], 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rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:				57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						calcSpluserMode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
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rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], 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rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:main.cpp://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
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userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 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57.3*rt->dq[4]);
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rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], 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57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
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userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 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57.3*rt->dq[4]);
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rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt->userMode);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], 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57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
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57.3*rt->dq[4]);
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rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])userMode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
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rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], 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57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
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57.3*rt->dq[4]);
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rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userMode = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgoal[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
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rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->userMode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:					arm3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
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userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
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rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
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userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
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rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
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userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 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57.3*rt->dq[4]);
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rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectory stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:prinuserMode:ter.cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
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userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 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57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
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rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:		ifuserMode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:main.cpp:	whiuserMode:le(!tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:mainuserMode:.cpp:					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMod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rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rt->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
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rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], 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rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:user.cpp:			ruserMode:t->a2[i] = 3.0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:									rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			printf("timeuserMode::	 %6.1f\n", rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt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rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->a3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], 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57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:				userMode:	arm3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userM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rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:'x'+rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useru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rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], 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57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
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5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		rt->time = servoTimer.time() - timeStart;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), rt->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquserMode:[3], 57.3*rt->dq[4]);
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rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count is theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo loop couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserMode:[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
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rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:prinuserMode:ter_org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[userMode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
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rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userMode = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:user.cpp:			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_deuserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userMode:>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->userMode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:M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rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userM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rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->q[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://					if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useru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rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:M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rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useru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rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userM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rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuserMode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commauserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode);			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userM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rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 57.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-userMode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuserMode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userMode:>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0], 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3], rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltage 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:					rt->force[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:printer_org.cuserMode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCODER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:SharuserMode:edMemory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duserMode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userM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rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:						57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:.cpp:				userMode:			rt->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:printer_org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouserMode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2]);userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuserMode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:.cpp:		ifuserMode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0],userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:printer_org.cuserMode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuserMode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserMode:ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:user.cpp:				userMode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count isuserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserMode:Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:			//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:						rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me = rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-time5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtime = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s theuserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userMode:		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		printf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userMode:,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rt-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tf[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSplinuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::userMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3], 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1],useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouserMode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i])useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:user.cpp:		pruserMode:intf("a0,userMode: a2, a3: userMode:%f, %f, %userMode:f \n", rtuserMode:->a0[i],ruserMode:t->a2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:						57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:printer_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserMode:l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userMode:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:Mode:qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->time);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:						rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:									rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userMode:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:userMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userMode:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nter_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userMode:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userMode:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3], 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:Mode:ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt->userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userMode:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userMode:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[userMode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userMode:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]userMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:					if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:unt from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userMode:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuserMode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt->useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userMode:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",rtuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userMode:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auserMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userMode:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)userMode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userMode:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->userMode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-userModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:userMode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userMode:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruserMode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserMode:orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruserMode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tfuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userMode:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuserMode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::prinuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuserMode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:ter.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userMode:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserMode:ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userMode:rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->x[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userMode:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:user.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rt-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userMode:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_des[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], rt->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userMode:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5userMode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->userMode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->userExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				57userMode:.3*rt->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:prinuserMode:ter_org.cpp:				rtuserMode:->tau_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serExit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuserMode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectoruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->x[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[userMode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt->xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserMode::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuserMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:userMode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:userMode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1userMode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExit = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:userMode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:userMode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpp:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userMode:rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:prinuserMode:ter_org.cuserMode:pp:						userMode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouserMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:.cpp:		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:userMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:.cpp:				userMode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:Mode:age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguserMode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserMode:l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->x[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:			rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserMode::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuserMode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printf("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserMode: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuserMode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuserMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuserMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:printer_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuserMode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuserMode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::ode == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruserMode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuserMode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuserMode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::Mode:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruserMode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuserMode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuserMode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_mode)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruserMode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuserMode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuserMode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiredForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2]);userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruserMode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuserMode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuserMode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserMode:nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		userMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruserMode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuserMode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuserMode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruserMode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuserMode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuserMode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s thuserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruserMode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuserMode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuserMode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rt->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruserMode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruserMode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userExit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserMode::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruserMode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuserMode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuserMode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:org.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userMode:	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				57.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->force[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to desuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruserMode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuserMode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuserMode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cpp:					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::printer_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->userModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userMode:rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// set load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruserMode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuserMode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuserMode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:				userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:Mode:userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserMode:Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserMode::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruserMode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuserMode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuserMode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printer_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,rt->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1], rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruserMode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuserMode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuserMode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:						rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruserMode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuserMode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuserMode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i],rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruserMode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuserMode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuserMode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userMode:0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruserMode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuserMode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuserMode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printer_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruserMode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuserMode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuserMode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rt->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: 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ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
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rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], 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rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruserMode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuserMode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuserMode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->userMode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserMode:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y stauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruserMode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuserMode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuserMode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->userMode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuserMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserModuserMode:e:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserModeuserMode::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
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rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], 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rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserMode:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:useruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruserMode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:org.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cpp:					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userModuserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouserMode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuserMode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->userMode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0], rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:priuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserModuserMode:e:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ine(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::userMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouserMode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouserMode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuserMode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->userMode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserModuserMode:e:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
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rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: 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rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuserMode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserMode:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuserMode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouserMode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouserMode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuserMode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->userMode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->x[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserModuserMode:e:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuserMode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuserMode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouserMode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouserMode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuserMode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->userMode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->xuserMode:[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserModuserMode:e:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
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rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: 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rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			rt->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuserMode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:useruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuserMode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouserMode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouserMode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuserMode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->userMode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->xuserMode:[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserModuserMode:e:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuserMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserMode:Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMode:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModeuserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuserMode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rt->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuserMode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouserMode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouserMode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuserMode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->userMode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->xuserMode:[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserModuserMode:e:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserMode:Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuserMode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuserMode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuserMode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouserMode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouserMode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuserMode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->userMode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->xuserMode:[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserModuserMode:e:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
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rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goal[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nda_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuserMode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:printer_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuserMode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuserMode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouserMode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouserMode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuserMode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->userMode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruserMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->xuserMode:[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserModuserMode:e:ter_org.cpp:						userMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
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rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\n", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduserMode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuserMode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->x[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuserMode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuserMode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouserMode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouserMode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuserMode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->userMode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->xuserMode:[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:honda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuserMode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduserMode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuserMode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuserMode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuserMode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouserMode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouserMode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuserMode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->userMode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->xuserMode:[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
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rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printer.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houserMode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuserMode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduserMode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuserMode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*rt->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:userMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuserMode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuserMode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouserMode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouserMode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuserMode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserMode:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->xuserMode:[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
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rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuserMode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houserMode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuserMode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduserMode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuserMode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuserMode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuserMode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuserMode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouserMode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouserMode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruserMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->xuserMode:[1userMode:], ruserMode:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpp:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuserMode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houserMode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuserMode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduserMode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuserMode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuserMode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuserMode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuserMode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouserMode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserMode:p:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
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rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("mode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuserMode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuserMode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houserMode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuserMode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduserMode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuserMode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priuserMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuserMode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuserMode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuserMode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);userMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserMode:p:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
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rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuserMode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuserMode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuserMode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houserMode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuserMode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduserMode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuserMode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoauserMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuserMode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuserMode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt->force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:ususerMode:eruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserMode:serMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserMode:p:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruserMode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususerMode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuserMode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuserMode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houserMode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuserMode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduserMode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuserMode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rt->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userMode:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMode:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuserMode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuserMode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt-userMode:>force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:ususerMode:eruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	57.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserMode:serMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserMode:p:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:que userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususerMode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuserMode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuserMode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houserMode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuserMode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduserMode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuserMode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: from userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouserMode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuserMode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuserMode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt-userMode:>force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:ususerMode:eruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::priuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userMode:7.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserMode:serMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserMode:p:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:Mode:al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommand(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0userMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususerMode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuserMode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuserMode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houserMode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuserMode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduserMode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuserMode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:time euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt->uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserMode:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouserMode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuserMode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuserMode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:Mode:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:userMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt-userMode:>force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:ususerMode:eruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserMode:serMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userMode:7.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserMode:serMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserMode:p:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-userMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:userMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususerMode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususerMode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuserMode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuserMode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houserMode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuserMode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduserMode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuserMode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:ruserMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userMode:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouserMode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuserMode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt-userMode:>force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:ususerMode:eruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserMode:serMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userMode:7.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserMode:serMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserMode:p:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuserMode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauserModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:Mode:userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususerMode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususerMode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuserMode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuserMode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houserMode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuserMode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduserMode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuserMode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouserMode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuserMode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt-userMode:>force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:ususerMode:eruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserMode:serMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userMode:7.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserMode:serMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserMode:p:				57.3*rt->quserMode:[userMode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINT_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuserMode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i] userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserMode:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususerMode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususerMode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuserMode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuserMode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houserMode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuserMode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduserMode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuserMode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserMode:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouserMode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuserMode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userMode:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt-userMode:>force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:ususerMode:eruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userMode:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserMode:serMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userMode:7.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserMode:serMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserMode:p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userModuserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:						rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserMode:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususerMode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususerMode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuserMode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuserMode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houserMode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuserMode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduserMode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouserMode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuserMode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForuserMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt-userMode:>force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:ususerMode:eruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserMode:serMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userMode:7.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserMode:serMode:userMode:useuserMode:ruserMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserMode:p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpp:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userMode:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[userMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tcischars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususerMode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususerMode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuserMode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuserMode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houserMode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuserMode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduserMode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouserMode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuserMode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt-userMode:>force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:ususerMode:eruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserMode:serMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userMode:7.3*rt->jgoal[3], 57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserMode:serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserMode:p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*rt->dq[2],userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuserMode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])userMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususerMode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususerMode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuserMode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuserMode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houserMode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuserMode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduserMode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[userMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:						userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserMode:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouserMode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserMode::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt-userMode:>force[1], rt->fuseruserMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMode: 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ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 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57userMode:.3*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserMode:serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 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5userMode:7.3*rt->quserMode:_des[1], 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5userMode:7.3*rt->dq[2],userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userMode:useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoal[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususerMode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususerMode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuserMode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuserMode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houserMode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuserMode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduserMode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1], ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouserMode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->userMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: 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rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt-userMode:>force[1], 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ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuserMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserMode:de:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 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57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserMode:serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 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57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:Mode:>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is userMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususerMode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususerMode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuserMode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuserMode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houserMode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuserMode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduserMode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouserMode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserMode::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserMode:serMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserMode:de:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::Mode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserMode:serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userMode:7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserMode:serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserMode:p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rt-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					runtimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rt->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususerMode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususerMode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuserMode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuserMode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houserMode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuserMode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduserMode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouserMode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerMode:erMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserMode:serMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserMode:de:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserMode:serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userMode:7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserMode:serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserMode:p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt->userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuserMode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuserMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[i] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuserMode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususerMode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususerMode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuserMode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuserMode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houserMode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuserMode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:userMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserMode:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userModeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouserMode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[useruserMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerMode:erMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserMode:serMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserMode:de:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserMode:serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userMode:7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserMode:serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserMode:p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->dq[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_des[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerMode:erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:useruserMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuserMode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususerMode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususerMode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuserMode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuserMode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houserMode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserMode:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuserMode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:useruserMode:org.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserMode:serMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerMode:erMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserMode:serMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserMode:de:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserMode:serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userMode:7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserMode:serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(dqmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuserMode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususerMode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususerMode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuserMode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuserMode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt->xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuserMode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserMode:serMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerMode:erMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserMode:serMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserMode:de:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:ModeuserMode::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserMode:serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userMode:7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserMode:serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuserMode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususerMode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususerMode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuserMode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuserMode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserMode:serModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserMode:serMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerMode:erMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserMode:serMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserMode:de:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserMode:serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userMode:7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
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rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: 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rt->useruserMode:Mode:tau_des[1], 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rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruserMode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuserMode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususerMode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususerMode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuserMode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3userMode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuserMode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:Mode:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserMode:serModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserMode:serMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerMode:erMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserMode:serMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserMode:de:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserMode:serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userMode:7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qgoal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuserMode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususerMode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususerMode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3userMode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuserMode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserMode:serModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserMode:serMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerMode:erMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserMode:serMode:userMode:userMode:userMode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserMode:de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserMode:serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userModeuserMode::7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
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rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: 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rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]userMode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::main.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuserMode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususerMode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususerMode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iuserMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_org.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuserMode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3userMode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuserMode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->userMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuserModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserMode:serMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserMode:serModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserMode:serMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerMode:erMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserMode:serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserMode:de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userModeuserMode::7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserMode:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserMode:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuserMode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususerMode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::Mode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:Mode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouserMode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuserMode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3userMode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuserMode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuuserMode:serModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:	rt->desiuserMode:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserMode:serMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserMode:serModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserMode:serMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerMode:erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserMode:serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserMode:de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userModeuserMode::7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuserMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuserMode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususerMode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouserMode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuserMode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3userMode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuserMode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					userMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMode:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuuserMode:serModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserMode:serMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserMode:serModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserMode:serMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerMode:erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserMode:serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserMode:de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userModeuserMode::7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:me =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuserMode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususerMode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-userMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoal[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouserMode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuserMode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3userMode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuserMode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeususerMode:erMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuuserMode:serModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserMode:serMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserMode:serModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserMode:seruserMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserMode:serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerMode:erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserMode:serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserMode:de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userModeuserMode::7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
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rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: 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rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuserMode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuserMode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->userMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluserMode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouserMode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuserMode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3userMode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuserMode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouserMode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruserMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:useruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeususerMode:erMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuuserMode:serModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMuserMode:ode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserMode:serMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserMode:serModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserMode:serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerMode:erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserMode:serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserMode:de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userModeuserMode::7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 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5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
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rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuserMode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuserMode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:userMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluserMode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouserMode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuserMode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3userMode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuserMode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:t->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeususerMode:erMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuuserMode:serModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMouserMode:de::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMuserMode:ode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserMode:serMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserMode:serModeuserMode::useruserMode:MuserMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserMode:serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerMode:erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserMode:serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserMode:de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userModeuserMode::7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuserMode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuserMode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluserMode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouserMode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuserMode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3userMode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuserMode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuserMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeususerMode:erMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuuserMode:serModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:Mode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMuserMode:ode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMouserMode:de::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMuserMode:ode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserMode:serMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserMode:serModeuserMode::useruserMode:MuserMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserMode:serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerMode:erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserMode:serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserMode:de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userModeuserMode::7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kill(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuserMode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLoadTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuserMode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuserMode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == userMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:l[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluserMode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouserMode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuserMode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3userMode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeususerMode:erMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuuserMode:serModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->userMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userMuserMode:odeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMuserMode:ode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMouserMode:de::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMuserMode:ode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserMode:serMode:userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserMode:serModeuserMode::useruserMode:MuserMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserMode:serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerMode:erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserMode:serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:userMode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userModeuserMode::7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
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rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						rt->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-userMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuserMode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuserMode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:useruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususerMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luserMode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluserMode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouserMode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuserMode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3userMode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeususerMode:erMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuuserMode:serModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->uuserMode:serMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userMuserMode:odeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMuserMode:ode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMouserMode:de::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMuserMode:ode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:userMode:userMode:useruserModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserMode:serModeuserMode::useruserMode:MuserMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserMode:serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerMode:erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModeuserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userModeuserMode::7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:Mode:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuserMode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruserMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserMode:rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:userMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuserMode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuserMode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuserMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userModeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luserMode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluserMode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouserMode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuserMode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3userMode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeususerMode:erMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuuserMode:serModeuserMode::ter_org.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->uuserMode:serMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userMuserMode:odeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMuserMode:ode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMouserMode:de::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMuserMode:ode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserMode:serModeuserMode::useruserMode:MuserMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserMode:serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserMode::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModeuserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuserMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userModeuserMode::7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
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rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[userMode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:userMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuserMode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuserMode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luserMode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluserMode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouserMode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuserMode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeususerMode:erMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->uuserMode:serMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userMuserMode:odeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMuserMode:ode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMouserMode:de::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMuserMode:ode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserMode:serModeuserMode::useruserMode:MuserMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserMode:serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserMode::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModeuserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userModeuserMode::7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			userMode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserMode:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuserMode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuserMode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5userMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luserMode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluserMode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouserMode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuserMode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeususerMode:erMode::userMode:useruseruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->uuserMode:serMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userMuserMode:odeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMuserMode:ode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMouserMode:de::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMuserMode:ode: rt-useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserMode:serModeuserMode::useruserMode:MuserMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserMode:seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserMode::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModeuserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userModeuserMode::7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
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rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		if(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:useuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuserMode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuserMode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuserMode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:Mode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luserMode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluserMode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouserMode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goal[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeususerMode:erMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredForce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->uuserMode:serMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userMuserMode:odeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMuserMode:ode:useruserMode:Mode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMouserMode:de::userMode:userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMuserMode:ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserMode:serModeuserMode::useruserMode:MuserMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserMode::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModeuserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:	5userModeuserMode::7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:Mode:f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>useruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserMode::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuserMode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuserMode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuserMode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuseruserMode:Mode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuserMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:Mode:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luserMode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluserMode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeususerMode:erMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], 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57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 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ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:Mode:0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_voltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserMode::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMode:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuserMode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuserMode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuserMode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuserMode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuseruserMode:Mode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:userMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruserMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luserMode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluserMode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeususerMode:erMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->uuserMode:serMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userMuserMode:odeuserMode::userMode:useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMuserMode:ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMouserMode:de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMuserMode:ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuserMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserMode::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModeuserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 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57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:Mode:, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rt->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// rt->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuserMode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuserMode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuserMode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuserMode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuseruserMode:Mode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruserMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luserMode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluserMode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeususerMode:erMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->uuserMode:serMode:F[0],userModeuserMode::userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userMuserMode:odeuserMode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMuserMode:ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMouserMode:de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMuserMode:ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuserMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserMode::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModeuserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode::7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:useruserMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.userMode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuserMode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuserMode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuserMode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuserMode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuseruserMode:Mode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruserMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luserMode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeususerMode:erMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:Mode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->uuserMode:serMode:F[0],userModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userMuserMode:odeuserMode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMuserMode:ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMouserMode:de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMuserMode:ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuserMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserMode::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModeuserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode::7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuserModeuserMode::p:				57.3*rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
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rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userMode:tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserMode:xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.userMode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuserMode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuserMode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuserMode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuserMode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuseruserMode:Mode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luserMode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuserMode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:userMode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:pp:							rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeususerMode:erMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->uuserMode:serMode:F[0],userModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userMuserMode:odeuserMode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMuserMode:ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMouserMode:de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMuserMode:ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuserMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserMode::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModeuserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode::7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::seruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuserModeuserMode::p:				57.3*userMode:rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserMode:[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.userMode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuserMode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuserMode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuserMode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuserMode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuseruserMode:Mode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:pp:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luserMode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:						rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeususerMode:erMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode::userMode:prinuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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rt->duserMode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->uuserMode:serMode:F[0],userModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userMuserMode:odeuserMode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMuserMode:ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMouserMode:de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMuserMode:ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuserMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	userMode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserMode::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModeuserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userMode:uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode::7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::serMode:userMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::seruserModeuserMode::Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuserModeuserMode::p:				57.3*userMode:rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userMode:)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.userMode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuserMode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuserMode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuserMode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuserMode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuseruserMode:Mode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luserMode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeususerMode:erMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:prinuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], 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ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserMode::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], 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ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userMode:quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMode:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.userMode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuserMode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuserMode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuserMode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuserMode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuseruserMode:Mode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:rMode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeususerMode:erMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:prinuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->uuserMode:serMode:F[0],userModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userMuserMode:odeuserMode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMuserMode:ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMouserMode:de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuserMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	useruserMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserMode::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModeuserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode::7.3*rt->jgoal[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:useuserMode:rMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::seruserModeuserMode::Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuserModeuserMode::p:				57.3*userMode:rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.userMode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuserMode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuserMode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuserMode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuserMode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususerMode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::ModuserMode:e:useruserMode:Mode:mainuserMode:.cpp:	if(rtuseruserMode:Mode:->miniMuseruserMode:ModuserMode:euserMode::odeuserMode: == TRuserMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode::useuserMode:rMode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuserMode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:Mode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:userMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: 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rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuserMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	useruserMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserMode::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], 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57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:useuserMode:rMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::seruserModeuserMode::Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuserModeuserMode::p:				57.3*userMode:rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.userMode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuserMode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuserMode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuserMode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuserMode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserMode:goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:prinuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], 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ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserMode::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModeuserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 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57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:useuserMode:rMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::seruserModeuserMode::Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuserModeuserMode::p:				57.3*userMode:rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
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rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.userMode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuserMode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuserMode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuserMode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuserMode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cpp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserModeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:ModuserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuserMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:prinuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:						rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerMode:erMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->uuserMode:serMode:F[0],userModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuserMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	useruserMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserMode::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 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57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::seruserModeuserMode::Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuserModeuserMode::p:				57.3*userMode:rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMode:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.userMode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuserMode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuserMode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuserMode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMode:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserMode:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuserMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:prinuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:userModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerMode:erMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->uuserMode:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMouserMode:de:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuserMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	useruserMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserMode:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode::7.3*rt->jgouserMode:al[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:useuserMode:rMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::seruserModeuserMode::Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuserModeuserMode::p:				userMode:57.3*userMode:rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuserMode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]userMode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3dof->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.userMode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuserMode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuserMode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuserMode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserModuserMode:e:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: 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rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerMode:erMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], 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ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], 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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uuseruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nd to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.userMode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuserMode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuserMode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuserMode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:ususerMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserModuserMode:e:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuserMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:prinuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserMode:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserMode:de:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerMode:erMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], 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rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:userMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMouserMode:de:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuserMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	useruserMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], 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57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:useuserMode:rMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::seruserModeuseruserMode:Mode::Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuserModeuserMode::p:				userMode:57.3*userMode:rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;			// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuserMode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.userMode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuserMode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuserMode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuserMode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruseuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserMode:rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuserMode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMode:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserModuserMode:e:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuserMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:prinuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserMode:de:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerMode:erMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->uuserMode:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruserMode:Mode:userMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:Mode:userModeuserMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userMode:userMode:useruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:Mode:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:usususerMode:erMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:userMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMouserMode:de:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuserMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	useruserMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:userMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMode:ode:userMode:useuserMode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userMode::MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruseruserMode:MouserMode:de:Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode::7.3*rt->jgouserMode:al[3], 57userMode:.3userMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:useuserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::seruserModeuseruserMode:Mode::Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuserModeuserMode::p:				userMode:57.3*userMode:rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruserMode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeuserModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	userMode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuserMode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.userMode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuserMode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuserMode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuserMode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMode:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuserMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserMode:serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuserMode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuserMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useususerMode:erMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserModuserMode:e:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: 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rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserMode:de:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerMode:erMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userMode:userModuserMode:e:rt->forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], 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rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:usususerMode:erMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:userMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMouserMode:de:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	useruserMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], 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57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:useuserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 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userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususerMode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	userMode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuserMode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.userMode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuserMode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuserMode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuserMode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususerMode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMode:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuserMode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuserMode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode:::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useususerMode:erMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserModuserMode:e:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuserMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:prinuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserMode:de:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerMode:erMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuserMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], 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rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:usususerMode:erMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:userMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMouserMode:de:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	useruserMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserMode:Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jgoal[0], 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57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:useuserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususerMode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	userMode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuserMode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.userMode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuserMode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuserMode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuserMode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerMode:erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuserMode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuserMode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuserMode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useususerMode:erMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserModuserMode:e:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuserMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:userMode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:prinuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserMode:de:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerMode:erMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], 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rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:usususerMode:erMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:userMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMouserMode:de:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	useruserMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], 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57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:useuserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.userMode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruserMode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuserMode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususerMode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	userMode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuserMode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.userMode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuserMode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuserMode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:userMode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerMode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuserMode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuserMode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuserMode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerMode:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erMode:userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMuserMode:ouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useususerMode:erMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserModuserMode:e:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuserMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:prinuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserMode:de:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerMode:erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userMode:rt->uuserMode:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:ModeuserMode::userModeuserMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userModeuserMode::userMode:useruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:userMode:Mode:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:usususerMode:erMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:userMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMouserMode:de:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	useruserMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jgoal[0], 57.3*rt-userMode:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:userMode:Mode::userMode:useruserMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serMode:Mode:userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMode:ode:userMode:useuseruserMode:Mode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userMode::MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruseruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode::7.3*rt->jgouserMode:al[3], 57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:useuserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::seruserModeuseruserMode:Mode::Mode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuuserMode:serModeuserMode::p:				userMode:57.3*userMode:rt->quserMode:[userMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:.3*rt->q_userMode:des[0], 5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruserMode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuserMode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:useruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususerMode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	userMode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuserMode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.userMode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuserMode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:Mode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerMode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuserMode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuserMode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuserMode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1],rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModeuserMode::de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMuserMode:ouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useususerMode:erMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserModuserMode:e:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuseruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: 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rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserMode:de:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerMode:erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], 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rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:usususerMode:erMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:userMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMouserMode:de:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	useruserMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], 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57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:useuserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5userMode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuserMode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = userMode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:useruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususerMode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	userMode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuserMode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.userMode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerMode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuserMode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuserMode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuserMode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruserMode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModeuserMode::de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMuserMode:ouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useususerMode:erMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserModuserMode:e:e:useruserMode:Mode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: 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rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserMode:de:rMode:userMode:useruserMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerMode:erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuseuserMode:rMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], 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rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:usususerMode:erMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:userMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMouserMode:de:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	useruserMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jgoal[0], 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57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:useuserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuserMode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.userMode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususerMode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruserMode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserMode:fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserMode:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::userModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususerMode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	userMode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuserMode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.userMode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerMode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuserMode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuserMode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuserMode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::userMode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModeuserMode::de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMuserMode:ouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useususerMode:erMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: 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rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserMode:de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerMode:erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuseuserMode:rMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userModeuserMode::rt->uuserMode:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:ModeuserMode::userModeuserMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userModeuserMode::userMode:useruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:userMode:Mode:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:usususerMode:erMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:userMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMouserMode:de:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:		//userModuserMode:e:	useruserMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:useuserMode:rMode:useruserMode:Mode:userModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jgoal[0], 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57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:t->ususerModeuserMode::erMode = ENCOuseruserMode:Mode:DER_TuserModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode::user.cpp:			userMode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserMode:Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMode:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:			userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMode:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususerMode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	userMode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuserMode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMode::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuserMode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerMode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuserMode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuserMode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuserMode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:rinter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserMode:Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModeuserMode::de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMuserMode:ouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useususerMode:erMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: 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rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserMode:de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerMode:erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuseuserMode:rMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], 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57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 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5userMode:7.3*rt->quserMode:_des[1], userMode:57.3*rt->userMode:q_des[2],userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:t->q_des[3], 5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = userMode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserMode::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(rt-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuserModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouserMode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususerMode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	userMode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuserMode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuserMode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuserMode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerMode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuserMode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuserMode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuserMode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:userMode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruserMode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModeuserMode::de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMuserMode:ouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useususerMode:erMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuserMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserMode:nuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserMode::userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserMode::ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserMode:de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerMode:erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userMode:userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuseuserMode:rMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userModeuserMode::rt->uuserMode:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:ModeuserMode::userModeuserMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuserMode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userModeuserMode::userMode:useruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:userMode:Mode:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:usususerMode:erMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:userMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMouserMode:de:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//userModuserMode:e:	useruserMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userMode:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jgoal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:userMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serMode:Mode:userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMode:ode:userMode:useuseruserMode:Mode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userMode::MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruseuserMode:ruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode::7.3*rt->jgouserModeuserMode::al[3], 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5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
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= 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			userMode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuserMode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouserMode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususerMode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	userMode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuserMode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:Mode:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuserMode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuserMode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuserMode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerMode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuserMode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuserMode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuserMode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userMode:userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModeuserMode::de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMuserMode:ouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuserMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserMode:e:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserMode:nuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserMode::userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserMode::ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserMode:de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerMode:erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userModeuserMode::userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuseuserMode:rMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userModeuserMode::rt->uuserMode:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:ModeuserMode::userModeuserMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userModeuserMode::userMode:useruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:userMode:Mode:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:usususerMode:erMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:userMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMouserMode:de:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//userModuserMode:e:	useruserMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userMode:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jgoal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:userMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serMode:Mode:userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMode:ode:userMode:useuseruserMode:Mode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruseuserMode:ruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode::7.3*rt->jgouserModeuserMode::al[3], 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= 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMode:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuserMode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouserMode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususerMode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	userMode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuserMode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:userMode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuserMode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuserMode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuserMode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerMode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuserMode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuserMode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuserMode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserMode:ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:printer_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModeuserMode::de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMuserMode:ouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuserMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserMode:e:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserMode:nuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserMode::userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserMode::ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuseuserMode:rMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserMode:de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerMode:erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userModeuserMode::userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuseuserMode:rMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userModeuserMode::rt->uuserMode:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:userModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:ModeuserMode::userModeuserMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userModeuserMode::userMode:useruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:userMode:Mode:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:usususerMode:erMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:userMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:userModuserMouserMode:de:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:useuserMode:rMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//userModuserMode:e:	useruserMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jgoal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:userMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serMode:Mode:userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMouserMode:de:ode:userMode:useuseruserMode:Mode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruseuserMode:ruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:userMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMode:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 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57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
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rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: 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rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMode:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuserMode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouserMode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususerMode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	userMode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuserMode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuserMode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuserMode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuserMode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuserMode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerMode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuserMode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuserMode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:pruserMode:inter_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModeuserMode::de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMuserMode:ouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuserMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode:userMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserMode:e:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserMode:nuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserMode::userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserMode::ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuseuserMode:rMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserMode:de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userModeuserMode::userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuseuserMode:rMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userModeuserMode::rt->uuserMode:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:ModeuserMode::userModeuserMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userModeuserMode::userMode:useruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:userMode:Mode:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:usususerMode:erMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:userMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:useuserMode:rMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//userModuserMode:e:	useruserMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jgoal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:userMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMouserMode:de:ode:userMode:useuseruserMode:Mode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruseuserMode:ruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode::7.3*rt->jgouserModeuserMode::al[3], 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= 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruserMode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userModeuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:userModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuserMode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouserMode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususerMode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	userMode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuserMode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMode:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt->x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuserMode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuserMode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuserMode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuserMode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuserMode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerMode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuserMode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuserMode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuserModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userMode:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:pruserMode:inter_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModeuserMode::de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserMode:rMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode:userMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserMode:e:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserMode:nuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserMode::userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserMode::ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuseuserMode:rMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserMode:de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userModeuserMode::userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuseuserMode:rMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userModeuserMode::rt->uuserMode:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:ModeuserMode::userModeuserMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userModeuserMode::userMode:useruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:userMode:Mode:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:usususerMode:erMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useruserMode:userMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMuserMode:ode:e:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:useuserMode:rMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//userModuserMode:e:	useruserMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jgoal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMouserMode:de:ode:userMode:useuseruserMode:Mode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruseuserMode:ruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode::7.3*rt->jgouserModeuserMode::al[3], 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57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
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userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuserMode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuserMode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouserMode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususerMode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	userMode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuserMode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuserMode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuserMode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuserMode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuserMode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuserMode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerMode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuserMode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouseruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:pruserMode:inter_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:Mode:userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserMode::useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserMode:rMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode:userMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserMode:e:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserMode:nuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserMode::userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserMode::ode:Mode:userMode:uuserMode:serModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuseuserMode:rMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserMode:de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userModeuserMode::userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuseuserMode:rMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userModeuserMode::rt->uuserMode:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:ModeuserMode::userModeuserMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userModeuserMode::userMode:useruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:userMode:Mode:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:userMode:usususerMode:erMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useuserMode:ruserMode:userMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMuserMode:ode:e:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:useuserMode:rMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//userModuserMode:e:	useruserMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruserMode:MouserMode:duserMode:euserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jguserMode:oal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuserMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMouserMode:de:ode:userMode:useuseruserMode:Mode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMode:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruseuserMode:ruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::ruserMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode::7.3*rt->jgouserModeuserMode::al[3], 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= 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuserMode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserMode:Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::useruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuserMode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouserMode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususerMode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	userMode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuserMode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuserMode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuserMode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuserMode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuserMode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuserMode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerMode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:Mode:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMuserMode:ode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMode:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:pruserMode:inter_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserMode::useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserMode:rMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode:userMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserMode:e:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserMode:nuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserMode::userMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserMode::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuseuserMode:rMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userModeuserMode::userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuseuserMode:rMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userModeuserMode::rt->uuserMode:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:ModeuserMode::userModeuserMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userModeuserMode::userMode:useruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserMode:userMode:Mode:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:usususerMode:erMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useuserMode:ruserMode:userMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMuserMode:ode:e:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:useuserMode:rMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//userModuserMode:e:	useruseuserMode:rMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruserMode:MouserMode:duserMode:euserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:useuserMode:rMode:ususerMode:erMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jguserMode:oal[0], 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5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: 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rt->useruserMode:Mode:tau_des[1], 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rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuserMode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserMode:Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuserMode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouserMode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususerMode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	userMode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuserMode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeususerMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuserMode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuserMode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuserMode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuserMode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuserMode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserModuserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuserMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:ModuserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMuserMode:ode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMouserMode:de:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:pruserMode:inter_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:rMode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserMode::useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserMode:rMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode:userMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserMode:e:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserMode:nuuserMode:serModeuserMode::ter_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserMode::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserMode::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuseuserMode:rMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userModeuserMode::userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuseuserMode:rMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userModeuserMode::rt->uuserMode:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:ModeuserMode::userModeuserMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:de:userModeuserMode::userMode:useruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userusuuserMode:serMode:eruserMode:userMode:Mode:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:usususerMode:erMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useuserMode:ruserMode:userMode:Mode:ususerMode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMuserMode:ode:e:useruserMode:Mode:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:useuserMode:rMode:useruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//userModuserMode:e:	useruseuserMode:rMode:Mode:		rt->xuserMode:[1userMode:], 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rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruserMode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuserMode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuserMode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouserMode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususerMode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	userMode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuserMode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserMode:serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserMode:rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouserMode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuserMode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuserMode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuserMode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuserMode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuserMode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:ModuserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMuserMode:ode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:e:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMouserMode:de:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:pruserMode:inter_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserMode::useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserMode:rMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode:userMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserMode:e:serModeuserMode::userMuserMode:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserMode:nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserMode::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserMode::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuseuserMode:rMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userModeuserMode::userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuseuserMode:rMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userMode:;userModeuserMode::rt->uuserMode:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruserMode:ModeuserMode::userModeuserMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:userModeuserMode::userMode:useruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userusuuserMode:serMode:eruserMode:userMode:Mode:org.cpp:						rt->F[1],userMuserModeuserMode::ode: 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rt->tau[userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				userMode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuserMode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouserMode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususerMode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	userMode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuserMode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserMode:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo loop userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:Mode:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouserMode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuserMode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuserMode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuserMode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuserMode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuserMode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:ModuserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMuserMode:ode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:e:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMouserMode:de:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:pruserMode:inter_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserMode::useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserMode:rMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode:userMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userMode::userMode:useruuserMode:seruserMode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserMode:e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserMode:nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserMode::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserMode::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:uuseuserMode:rMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], 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rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt->tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModeuseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuserMode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuserMode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouserMode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususerMode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	userMode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMode:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouserMode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuserMode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuserMode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuserMode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuserMode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuserMode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userMode:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:ModuserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMuserMode:ode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserMode:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:e:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMouserMode:de:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:pruserMode:inter_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserMode::useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserMode:rMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode:userMouserMode:de::userMode:userModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userMode::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserMode:e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserMode:nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserMode::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserMode::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userModeuserMode::userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuseuserMode:rMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], 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ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruserMode:MouserMode:duserMode:euserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuserMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], 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5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],userMode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuserMode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userModeuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuserMode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouserMode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususerMode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouserMode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuserMode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuserMode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuserMode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuserMode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruserModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt->xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:ModuserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMuserMode:ode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserModuserMode:e:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:e:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMouserMode:de:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:pruserMode:inter_org.cpp:			//			rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserMode::useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserMode:rMode:ode:userMode:useruseuserMode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode:userMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userMode::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserMode:e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserMode:nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserMode::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserMode::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userModeuserMode::userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuseuserMode:rMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], 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ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:useruserMode:MouserMode:duserMode:euserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuseuserMode:rMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:ususerMode:erMode:userMode:userModuserMode:e:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:useuserMode:rMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:useuserMode:rMode:ususerMode:erMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jguserMode:oal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserModuserMode:e::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserModuserMode:e:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuseuserMode:rMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMouserMode:de:ode:userMode:useuseruserMode:Mode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserModuserMode:e::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruseuserMode:ruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rususerMode:erMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:uuserMode:serMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouserMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 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5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tau[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serExuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duserMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuserMode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouserMode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruserMode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouserMode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuserMode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuserMode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuserMode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euserMode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMode:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erMode:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:ModuserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMuserMode:ode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserMode:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserModuserMode:e:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:e:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMouserMode:de:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userModeuserModuseruserMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:pruserMode:inter_org.cpp:			//			userMode:rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserMode::useruserMode:ModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserMode:rMode:ode:userMode:useruseuserMuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode:userMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userMode::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserMode:e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserMode:nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserMode::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserMode::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuserMode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userModeuserMode::userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], 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rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:usususerMode:erMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useuserMode:ruserMode:userMode:Mode:ususerMuserMode:ode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMuserMode:ode:e:useruserMode:Mode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:rModuserMouserMode:de:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:useuserMode:rMode:useruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:useruserMode:Mode:userModuserMode:userMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//userModuserMode:e:	useruseuserMode:rMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:ususerMode:eruserMode:MouserMode:duserMode:euserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuseuserMode:rMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:ususerMode:erMode:userMode:userModuserMode:e:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:useuserMode:rMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:useuserMode:rMode:ususerMode:erMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserMuserMode:odeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jguserMode:oal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeuserMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserModuserMode:e::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::userMode:useruseuserMode:rMode:Mode:userMode:userMode:useuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserModuserMode:e:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususerMode:erModeuserMode::userMode:useuseuserMode:rMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMouserMode:de:ode:userMode:useuseruserMode:Mode:rMode:useruseruserMode:Mode:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:Mode:userModeuseuserMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserModeuserModeuserMode:::ModeuserModuserMode:e::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruseuserMode:ruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rususerMode:erMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:uuserMode:serMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouserMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 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5useruserMode:Mode:7.3*rt->q_desuserMode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuserMode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruserMode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserMode:M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userMode:			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rt->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuserMode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouserMode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruserMode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:eruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:userModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouserMode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuserMode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuserMode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euserMode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgoaluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userMode:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:ModuserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMuserMode:ode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserModuserMode:e:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserModuserMode:e:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:e:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMouserMode:de:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:pruserMode:inter_org.cpp:			//			userMode:rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserMode::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserMode:rMode:ode:userMode:useruseuserMuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode:userMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userMode::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserMode:e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserMode:nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserMode::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserMode::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:ususerMode:eruserMode:MouserMode:duserMode:euserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuseuserMode:rMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:ususerMode:erMode:userMode:userModuserMode:e:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:Mode:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:useuserMode:rMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMouserMode:de::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:useuserMode:rMode:ususerMode:erMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserMuserMode:odeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jguserMode:oal[0], 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5useruserMode:Mode:7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], rt->tuserMode:au[2], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt->useruserMode:Mode:tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuserMode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserMode:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:useruseruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuserMode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouserMode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruserMode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruserMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:eruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouserMode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuserMode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuserMode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euserMode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruserMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userMode:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:ModuserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMuserMode:ode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserModuserMode:e:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserModuserMode:e:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:e:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMouserMode:de:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:duserMode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserMode:e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:pruserMode:inter_org.cpp:			//			userMode:rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:erMode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserMode::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserMode:rMode:ode:userMode:useruseuserMuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode:userMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userMode::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserMode:e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserMode:nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserMode::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:uuseuserMode:rMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0], rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:Mode:userModeuserMode::userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userModeuserMode::;userModeuserMode::rt->uuserMode:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userModuserMode:e:useruseruserMode:Mode:Mode:userMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruseuserMode:rMode:ModeuserMode::userModeuserMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:userModeuserMode::userMode:useruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:usususerMode:erMode:erModuserMode:e:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useuserMode:ruserMode:userMode:Mode:ususerMuserMode:ode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMuserMode:ode:e:useruserMode:Mode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:rModuserMouserMode:de:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:useuserMode:rMode:useruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:useruserMode:Mode:userModuserMode:userMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMuserMode:ode:de:useruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//useuserMode:rModuserMode:e:	useruseuserMode:rMode:Mode:		rt->xuserMode:[1userMode:], 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rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruserMode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useruserMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuserMode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouserMode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuserMode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruserMode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerMode:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:Mode:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:eruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMode:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuseuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouserMode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuserMode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euserMode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:Mode:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouserMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:ususerMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:ModuserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uuserMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMuserMode:ode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMuserMode:ode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserModuserMode:e:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserModuserMode:e:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:e:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMouserMode:de:Mode:serMode:prinuserMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserMode:e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:pruserMode:inter_org.cpp:			//			userMode:rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:eruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:Mode:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserMode::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserMode:rMode:ode:userMode:useruseuserMuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode:userMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userMode::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserMode:e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserMode:nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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rt->tau[userMode:1], rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userMode:\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuserMode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouserMode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususerMode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruserMode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserMode:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			printuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:eruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userMode:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserMode:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouserMode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:userMode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:Mode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euserMode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:e::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:erMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:ModuserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMuserMode:ode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMuserMode:ode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserModuserMode:e:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserModuserMode:e:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:e:useruseruserMode:Mode:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMouserMode:de:Mode:serMode:prinususerMode:erMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserMode:e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:pruserMode:inter_org.cpp:			//			userMode:rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:eruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserMode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:Mode:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserMode::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserMode:rMode:ode:userMode:useruseuserMuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode:userMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userMode::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserMode:e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: 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57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ode::userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:uuserMode:serMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuserMode:ode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouserMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 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userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->tau[0],userMode: rt->tau[userMode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuserMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruserMode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuserMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuserMode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouserMode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruserMode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMode:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:eruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:userMode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouserMode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:Mode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euserMode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3useruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:ModuserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMuserMode:ode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMuserMode:ode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserModuserMode:e:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserModuserMode:e:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:useruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:e:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMouserMode:de:Mode:serMode:prinususerMode:erMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserMode:e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:pruserMode:inter_org.cpp:			//			userMode:rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:eruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:Mode:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserMode::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserMode:rMode:ode:userMode:useruseuserMuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode:userMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userMode::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:uuseuserMode:rMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:userModeuserMode::userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:useruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userModeuserMode::;userModeuserMode::rt->uuserMode:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruseuserMode:rMode:ModeuserMode::userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:userModeuserMode::userMode:ususerMode:eruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:usususerMode:erMode:erModuserMode:e:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useuserMode:ruserMode:userMode:Mode:ususerMuserMode:ode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMuserMode:ode:e:useruserMode:Mode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:rModuseruserMode:MouserMode:de:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:ususerMode:eruserMode:Mode:userModuserMode:userMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMuserMode:ode:de:useruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//useuserMode:rModuserMode:e:	useruseuserMode:rMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:ususerMode:eruserMode:MouserMode:duserMode:euserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:odeuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuseuserMode:rMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuuserMode:serMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMouserMode:de:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], 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rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rt->useuseruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = 1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-userMode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniMode = FuseruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:userMode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuserMode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouserMode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruserMode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:eruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouserMode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:Mode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euserMode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serMode:Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:ModuserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMuserMode:ode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMuserMode:ode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserModuserMode:e:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserModuserMode:e:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserModeuserMode:::userMode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:ususerMode:eruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:e:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMouserMode:de:Mode:serMode:prinususerMode:erMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserMode:e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:pruserMode:inter_org.cpp:			//			userMode:rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:eruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:Mode:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserMode::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserMode:rMode:ode:userMode:useruseuserMuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserMode:userMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userModeuserMode:::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cpp:						rtuserMode:->useuseruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->userExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode: \n", rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rt->miniModuserMode:e = FuseruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] = 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:Mode:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuserMode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuserMode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruserMode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:eruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:userMode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouserMode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:Mode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euserMode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserMode:Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:ode:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModeuserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:ModuserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMuserMode:ode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMuserMode:ode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserModuserMode:e:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserModuserMode:e:userModeuuserMode:serMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:ususerMode:eruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:e:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMouserMode:de:Mode:serMode:prinususerMode:erMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserMode:e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:pruserMode:inter_org.cpp:			//			userMode:rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:eruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:Mode:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserMode::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserMode:rMode:ode:userMode:useruseuserMuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::userMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userModeuserMode:::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rt->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:uuseuserMode:rMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:ususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:userModeuserMode::userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserMode:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruseuserMode:rMode:ModeuserMode::userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:userModeuserMode::userMode:ususerMode:eruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:usususerMode:erMode:erModuserMode:e:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useuserMode:ruserModuserMode:e:userMode:Mode:ususerMuserMode:ode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMuserMode:ode:e:ususerMode:eruserMode:Mode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:rModuseruserMode:MouserMode:de:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:ususerMode:eruserMode:Mode:userModuserMode:userMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMuserMode:ode:de:useruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//useuserMode:rModuserMode:e:	useruseuserMode:rMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:ususerMode:eruserMode:MouserMode:duserMode:euserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuseuserMode:rMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuuserMode:serMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMouserMode:de:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode::puserMode:riuserMuserMode:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMouserMode:de:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:ususerMode:erMode:userMode:userModuserMode:e:userModeuserMode::userMouserMode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:MouserMode:de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:useuserMode:rMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:userMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMouserMode:de::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:useuserMode:rMode:ususerMode:erMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:uuserMode:serMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserMuserMode:odeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jguserMode:oal[0], 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userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: 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rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuserMode:.cppuserMode::						rtuserMode:->useuseruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuserMode:		rtuserMode:->miniModuserMode:e = FuseruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[i] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuserMode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuserModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuserMode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruserMode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuserMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:eruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususerMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserMode:useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuserMode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:Mode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euserMode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userMode:cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userMode:,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:ModuserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMuserMode:ode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMuserMode:ode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserModuserMode:e:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:ususerMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserModuserMode:e:userModeuuserMode:seuserMode:rMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:ususerMode:eruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:e:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMouserMode:de:Mode:serMode:prinususerMode:erMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserMode:e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:userModuserMode:e:pruserMode:inter_org.cpp:			//			userMode:rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:eruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:Mode:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserMode::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuserMuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::userMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userModeuserMode:::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuserModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:uuseuserMode:rMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuserMouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:ususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:userModeuserMode::userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], 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ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qgouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:		rt->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::			useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)useruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		puserModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuserMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:ModuserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruserMode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:eruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: fruserMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:Mode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euserMode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModeuserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:ModuserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMuserMode:ode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMuserMode:ode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserModuserMode:e:serMode::ususerMode:erMuserMode:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:ususerMode:userMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserModuserMode:e:userModeuuserMode:seuserMode:rMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:ususerMode:eruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:e:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMouserMode:de:Mode:serMode:prinususerMode:erMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserMode:e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userMode:rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:eruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserMode:serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:Mode:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuserMuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::userMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userModeuserMode:::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:Mode:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:uuseuserMode:rMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:ususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:userModeuserMode::userMode:userMode:useruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruseuserMode:rMode:ModeuserMode::userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:userModeuserMode::userMode:ususerMode:eruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userusuuserMode:serMode:userMode:eruserMode:userMode:ModuserMode:e:org.cpp:						rt->F[1],userMuserModeuserMode::ode: 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userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 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57.useruserMode:Mode:3*rt->dq[4]);
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rt-userMode:>useruserMode:ModeuserMode::tau_des[1], 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rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserMode:l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruserMode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:useruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruserMode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:eruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honda_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMode:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMode:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:Mode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euserMode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:ModuserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMuserMode:ode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMuserMode:ode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserModuserMode:e:serMode::ususerMode:erMuserMouserMode:de:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:ususerMode:userMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserModuserMode:e:userModeuuserMode:seuserMode:rMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:ususerMode:eruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:e:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMouserMode:de:Mode:serMode:prinususerMode:erMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserMode:e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userMode:rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:eruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserMode:serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:Mode:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuserMuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::userMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userModeuserMode:::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rt->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:ModuserMode:e:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:uuseuserMode:rMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userModuserMode:euserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:ususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:userModuserMode:e:rt->userMode:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:userModeuserMode::userMode:userMode:ususerMode:eruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruseuserMode:rMode:ModeuserMode::userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:userModeuserModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userusuuserMode:serMode:userMode:eruserMode:userMode:ModuserMode:e:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:ususerMode:ususerMode:erMode:erModuserMode:e:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useuserMode:ruserModuserMode:e:userMode:Mode:ususerMuserMode:ode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMuserMode:ode:e:ususerMode:eruserMode:Mode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:rModuseruserMode:MouserMode:de:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:ususerMode:eruserMode:Mode:userModuserMode:userMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:userususerMode:eruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMuserMode:ode:de:useruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//useuserMode:rModuserMode:e:	useruseuserMode:rMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:ususerMode:eruserMode:MouserMode:duserMode:euserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuseuserMode:rMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuuserMode:serMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:userMode:ModuserMode:euserMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMouserMode:de:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode::puserMode:riuserMuserMouserMode:de:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMouserMode:de:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:ususerMode:erMode:userMode:userModuserMode:e:userModeuserMode::userMouseruserMode:Mode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:MouserMode:de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:useuserMode:rMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMouserMode:de::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:useuserMode:rMode:ususerMode:erMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:uuserMode:serMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserMuserMode:odeuserMode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jguserMode:oal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeususerMode:erMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserModuserMode:e::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::userMode:useruseuserMode:rMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:Mode:userModeuserModuserMode:e:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:userMode:userModuserMode:e:userModeuseruserMode:Mode::uuserMode:seruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:useuseuserMode:rMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMouserMode:de:ode:userMode:useuseruserMode:Mode:rMode:useruseruserMode:MouserMode:de:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:MuserMode:ode:userModeuseuserMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuserMode:serMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserModuserMode:e:e:useruserModeuserModeuserMode:::ModeuserModuserMode:e::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruseuserMode:ruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeuserMode::rususerMode:erMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ouserMode:de::userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:useruseruserMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:uuserMode:serMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuuserMode:serMode:ode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouserMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserModeuserMode::deuserMuserMode:ode::userModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:Mode::Mode:useuserMode:rMuserMuserMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuuserMode:serModeuserMode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:serMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:t->q_useruserMode:Mode:des[userMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserMode:Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:t->q_des[3], userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(userModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruserMode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:eruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:Mode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruserMode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuserMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:ModuserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMuserMode:ode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMuserMode:ode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:ususerMode:erMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserModuserMode:e:serMode::ususerMode:erMuserMouserMode:de:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:ususerMode:userMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserModuserMode:e:userModeuuserMode:seuserMode:rMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:ususerMode:eruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:e:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMouserMode:de:Mode:serMode:prinususerMode:erMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userMode:rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:eruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserMode:serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt->duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuserMuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::userMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userModeuserMode:::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rtuserMode:->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:ModuserMode:e:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:uuseuserMode:rMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userModuserMode:euserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:ususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserMode:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:userModuserMode:e:rt->userModuserMode:e:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:userModeuserMode::userMode:userMode:ususerMode:eruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:odeuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruseuserMode:rMode:ModeuserMode::userModeuseuseruserMode:Mode:rMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:userModeuserModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userusuuserMode:serMode:userMode:eruserMode:userMode:ModuserMode:e:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:ususerMode:ususerMode:erMode:erModuserMode:e:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useuserMode:ruserModuserMode:e:userMode:Mode:ususerMuserMode:ode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userModuserMuserMode:ode:e:ususerMode:eruserMode:Mode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:rModuseruserMode:MouserMode:de:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:userususerMode:erMode:Mode:userMode:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:ususerMode:eruserMode:Mode:userModuserMode:userMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:userususerMode:eruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMuserMode:ode:de:useruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//useuserMode:rModuserMode:e:	useruseuserMode:rMode:Mode:		rt->xuserMode:[1userMode:], 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rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruserMode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userModuserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_userMode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:eruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserMode:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuserMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserMode:ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:Mode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruserMode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:Mode:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:Mode:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:ModuserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserMode:rMode:userModuserMuserMode:ode:e:userusususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:userMode:userMode:userMode:ususerMuserMode:ode:erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:Mode:ususerMode:erMode:userModeuseruserMode:Mode::useuserMode:rModuserMode:euserMode::userMouseruserMode:Mode:de:userMode:useruserMode:Mode:userMode:userMode:userModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:ususerMode:erMode:useruserMode:Mode:useruserMode:Mode:useuserMode:userMode:rModeuserModeuuserMode:serMode:::userMouseruserMode:Mode:de:userMode:userMode:userMode:userModeuuserModuserMode:e:serMode::ususerMode:erMuserMouserMode:de:ode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:userMode:rModeuserMode::userModuserMode:e:userMouseruserMode:Mode:de:userModeuserMode::useruserMode:ModuserMode:e:userMode:userMode:ususerMode:userMode:erMuserMode:ode:userModeuserMode::userMode:useruserMode:Mode:userMode:useuserMode:rMode:useuserMuserMode:ode:ruseruserModeuserMode::Mode:rtuseruserMode:Mode:->compliance_directiouserModuserMode:e:userModeuuserMode:seuserMode:rMode::,ruserMode:t->userMode:xgoauserMode:userMode:userMode:useruserMode:useruseruserMode:Mode:Mode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuserModeuserMode:::userMode:userMode:ususerMode:erMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:Mode:Mode:useruserModeuserMode::Mode:userModeuserMode::userMode:useuserMode:rModeuserModeuserMode:::userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:ususerMode:eruseruuserMode:serMode:ModuserMode:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:ruserMode:useruserMode:userMode:Mode:Mode:useuserMode:rMode:userModuserMode:e:userMouseruserMode:Mode:duserMode:e:useruseruserMode:ModuserMode:e:Mode:userMode:userMode:userMode:ususerMode:erMuserMode:ode:useruseruserMode:ModeuserMode::Mode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:ruseruserModeuserMode::Mode::uuseruserMouserMode:de:Mode:serMode:prinususerMode:erMode:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userMode:rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:eruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserMode:serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuserMuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::userMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userModeuserMode:::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ode:Mode:userMode:uuserModuserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserMode:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rtuserMode:->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:ModuserMode:e:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:uuseuserMode:rMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userModuserMode:euserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:ususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserModuserMode:e:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:userModuserMode:e:rt->userModuserMode:e:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:userModeuserMode::userMode:userMode:ususerMode:eruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:ModeuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruseuserMode:rMode:ModeuserMode::userModeuseuseruserMode:Mode:rMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:userModeuserModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userusuuserMode:serMode:userMode:eruserMode:userMode:ModuserMode:e:org.cpp:						rt->F[1],userMuserModeuserMode::ode: 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userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 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rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruserMode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euserMode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_userMode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:eruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserMode:de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userMode:useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:Mode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuserMode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruserMode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:Mode::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruserMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:ModuserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModeuserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userMode:rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:eruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserMode:serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuserMuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::userMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:erMode:userModeuserMode:::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserModuserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserMode:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rtuserMode:->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:ModuserMode:e:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userModuserMode:euserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:ususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserModuserMode:e:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:userModuserMode:e:rt->userModuserMode:e:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:userModeuserMode::userMode:userMode:ususerMode:eruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruseuserMode:rMode:ModeuserMode::userModeuseuseruserMode:Mode:rMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:userModeuserModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userusuuserMode:serMode:userMode:eruserMode:userMode:ModuserMode:e:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:ususerMode:ususerMode:erMode:erModuserMode:e:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useuserMode:ruserModuserMode:e:userMode:Mode:ususerMuserMode:ode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userMouserMode:duserMuserMode:ode:e:ususerMode:eruserMode:Mode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:userMode:de:userMode:useuserMode:rModuseruserMode:MouserMode:de:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:userususerMode:erMode:Mode:userMode:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:ususerMode:eruserMode:Mode:userModuserMode:userMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:userususerMode:eruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMuserMode:ode:de:useruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//useuserMode:rModuserMode:e:	useruseuserMode:rMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:ususerMode:eruserMode:MouserMode:duserMode:euserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::uuserMode:serMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuseuserMode:rMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuuserMode:serMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMouserMode:de:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode::puserMode:riuserMuserMouserMode:de:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMouserMode:de:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:ususerMode:erMode:userMode:userModuserMode:e:userModeuserMode::userMouseruserMode:Mode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:MouserMode:de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:useuserMode:rMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMouserMode:de::seruserMode:ModeuserMode::userMuserMode:ode:useuserMode:rMode:useuserMode:rMode:ususerMode:erMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:uuserMode:serMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserMuserMode:odeuserMuserMode:ode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jguserMode:oal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeususerMode:erMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:duserMode:e::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::userMode:useruseuserMode:rMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:MuserMode:ode:userModeuserModuserMode:e:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:userMode:userModuserMode:e:userModeuseruserMode:Mode::uuserMode:seruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:useuseuserMode:rMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMouserMode:de:ode:userMode:useuseruserMode:Mode:rMode:useruseruserMode:MouserMode:de:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:MuserMode:ode:userModeuseuserMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuserMode:serMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserModuserMode:e:e:useruserModeuserModeuserMode:::ModeuserModuserMode:e::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruseuserMode:ruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeuserMode::rususerMode:erMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode:userMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ouserMode:de::userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:useruseruuserMode:serMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:uuserMode:serMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuuserMode:serMode:ode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouserMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserModeuserMode::deuserMuserMode:ode::userModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:Mode::Mode:useuserMode:rMuserMuserMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuuserMode:serModeuserMode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:serMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[userMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserMode:Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:t->q_des[3], userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:userModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:userMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMode::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruserMode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruserMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_userMode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:eruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:serMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:Mode:userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuserMode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:Mode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususeuseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuserMode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruserMode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:userMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:e::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuserMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:Mode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModeuserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userMode:rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:eruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserMode:serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuserMuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::userMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserModuserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserMode:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rtuserMode:->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:ModuserMode:e:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erModuserMode:e:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userModuserMode:euserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:userMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:suserMode:eruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:ususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserModuserMode:e:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:userModuserMode:e:rt->userModuserMode:e:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:userModeuserMode::userMode:userMode:ususerMode:eruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruseuserMode:rMode:ModeuserMode::userModeuseuseruserMode:Mode:rMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:userModeuserModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userusuuserMode:serMode:userMode:eruserMode:userMode:ModuserMode:e:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:ususerMode:ususerMode:erMode:erModuserMode:e:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useuserMode:ruserModuseruserMode:Mode:e:userMode:Mode:ususerMuserMode:ode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userMouserMode:duserMuserMode:ode:e:ususerMode:eruserMode:Mode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:userMode:de:userMode:useuserMode:rModuseruserMode:MouserMode:de:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:userususerMode:erMode:Mode:userMode:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:ususerMode:eruserMode:Mode:userModuserMode:userMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:userususerMode:eruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMuserMode:ode:de:useruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseuserMode:rMode:ode:useuserMode:rMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//useuserMode:rModuserMode:e:	useruseuserMode:rMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::userMode:seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:ususerMode:eruserMode:MouserMode:duserMode:euserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::uuserMode:serMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuseuserMode:rMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuuserMode:serMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMouserMode:de:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode::puserMode:riuserMuserMouserMode:de:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMouserMode:de:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:ususerMode:erMode:userMode:userModuserMode:e:userModeuserMode::userMouseruserMode:Mode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:MouserMode:de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMode:useuserMode:rMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMouserMode:de::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rMode:useuserMode:rMode:ususerMode:erMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:uuserMode:serMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserMuserMode:odeuserMuserMode:ode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jguserMode:oal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeususerMode:erMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:duserMode:e::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::userMode:useruseuserMode:rMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:MuserMode:ode:userModeuserModuserMode:e:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:userMode:userModuserMode:e:userModeuseruserMode:Mode::uuserMode:seruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:useuseuserMode:rMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMouserMode:de:ode:userMode:useuseruserMode:Mode:rMode:useruseruserMode:MouserMode:de:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:MuserMode:ode:userModeuseuserMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuserMode:serMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserModuserMode:e:e:useruserModeuserModeuserMode:::ModeuserModuserMode:e::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruuserMode:seuserMode:ruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeuserMode::rususerMode:erMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode:userMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ouserMode:de::userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:useruseruuserMode:serMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:uuserMode:serMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuuserMode:serMode:ode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouserMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserModeuserMode::deuserMuserMode:ode::userModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:Mode::Mode:useuserMode:rMuserMuserMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuuserMode:serModeuserMode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:serMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[userMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserMode:Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:t->q_des[3], userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:userModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruserMode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_userMode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:eruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuserMode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:ode:rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:Mode:ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususerMode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuserMode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruserMode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:de::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,rt->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModeuserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userMode:rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerMode:erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:eruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserMode:serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuserMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuserMuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserModuserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserMode:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rtuserMode:->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:ModuserMode:e:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_org.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userModuserMode:e:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erModuserMode:e:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userModuserMode:euserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:ususerMode:erMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:suserMode:eruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:ususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserModuserMode:e:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:userModuserMode:e:rt->userModuserMode:e:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:userModeuserMode::userMode:userMode:ususerMode:eruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruseuserMode:rMode:ModeuserMode::userModeuseuseruserMode:Mode:rMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:userModeuserModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userusuuserMode:serMode:userMode:eruserMode:userMode:ModuserMode:e:org.cpp:						rt->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:ususerMode:ususerMode:erMode:erMouserMode:duserMode:e:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useuserMode:ruserModuseruserMode:Mode:e:userMode:Mode:ususerMuserMode:ode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userMouserMode:duserMuserMode:ode:e:ususerMode:eruserMode:Mode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:userMode:de:userMode:useuserMode:rModuseruserMode:MouserMode:de:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:userususerMode:erMode:Mode:userMode:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:ususerMode:eruserMode:Mode:userModuserMode:userMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:userususerMode:eruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMuserMode:ode:de:useruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseususerMode:erMode:rMode:ode:useuserMode:rMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//useuserMode:rModuserMode:e:	useruseuserMode:rMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::userMode:seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:ususerMode:eruserMode:MouserMode:duserMode:euserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::uuserMode:serMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuseuserMode:rMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuuserMode:serMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMouserMode:de:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode::puserMode:riuserMuserMouserMode:de:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMouserMode:de:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:ususerMode:erMode:userMode:userModuserMode:e:userModeuserMode::userMouseruserMode:Mode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:MouserMode:de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuserMode:ode:useuserMode:rMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMouserMode:de::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rMode:useuserMode:rMode:ususerMode:erMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:uuserMode:serMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserMuserMode:odeuserMuserMode:ode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jguserMode:oal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeususerMode:erMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:duserMode:e::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::userMode:useruseuserMode:rMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:MuserMode:ode:userModeuserModuserMode:e:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:userMode:userModuserMode:e:userModeuseruserMode:Mode::uuserMode:seruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:useuseuserMode:rMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMouserMode:de:ode:userMode:useuseruserMode:Mode:rMode:useruseruserMode:MouserMode:de:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:MuserMode:ode:userModeuseuserMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userMode:userModuserMode:e:userMode:userModeuserMode::uuserMode:serMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserModuserMode:e:e:useruserModeuserModeuserMode:::ModeuserModuserMode:e::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruuserMode:seuserMode:ruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeuserMode::rususerMode:erMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode:userMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ouserMode:de::userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:useruseruuserMode:serMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:uuserMode:serMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuuserMode:serMode:ode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouserMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserModeuserMode::deuserMuserMode:ode::userModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:Mode::Mode:useuserMode:rMuserMuserMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuuserMode:serModeuseruserMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:serMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[userMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserMode:Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:t->q_des[3], userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::userMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruserMode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuserMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuserMode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_userMode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:Mode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuserMode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususerMode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuserMode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruserMode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*rt-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printer_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModeuserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userMode:rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerMode:erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:eruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserMode:serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MuserMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:useuserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserModuserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserMode:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rtuserMode:->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:ModuserMode:e:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:ModeuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userModuserMode:e:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erModuserMode:e:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userModuserMode:euserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:useruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:ususerMode:euserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:ususerMode:erMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:suserMode:eruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:ususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserModuserMode:e:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:userModuserMode:e:rt->userModuserMode:e:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:userModeuserMode::userMode:userMode:ususerMode:eruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruseuserMode:rMode:ModeuserMode::userModeuseuseruserMode:Mode:rMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:userModeuserModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouserModeuserMode::de::userMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userusuuserMode:serMode:userMode:eruserMode:userMode:ModuserMode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:ususerMode:ususerMode:erMode:erMouserMode:duserMode:e:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useuserMode:ruserModuseruserMode:Mode:e:userMode:Mode:ususerMuserMode:ode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userMouserMode:duserMuserMode:ode:e:ususerMode:eruserMode:Mode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:userMode:de:userMode:useuserMode:rModuseruserMode:MouserMode:de:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:userususerMode:erMode:Mode:userMode:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:ususerMode:eruserMode:Mode:userModuserMode:userMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:uuserMode:serususerMode:eruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMuserMode:ode:de:useruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseususerMode:erMode:rMode:ode:useuserMode:rMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//useuserMode:rModuserMode:e:	useruseuserMode:rMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::userMode:seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:ususerMode:eruserMode:MouserMode:duserMode:euserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::uuserMode:serMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuseuserMode:rMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuuserMode:serMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMouserMode:de:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:ususerMode:erMode:userMode:userModuserMode:e:useruserMode::puserMode:riuserMuserMouserMode:de:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMouserMode:de:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:ususeuserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserMode::userMouseruserMode:Mode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:MouserMode:de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuserMode:ode:useuserMode:rMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMouserMode:de::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rMode:useuserMode:rMode:ususerMode:erMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:uuserMode:serMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserMuserMode:odeuserMuserMode:ode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jguserMode:oal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeususerMode:erMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:duserMode:e::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::userMode:useruseuserMode:rMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:MuserMode:ode:userModeuserModuserMode:e:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:userMode:userModuserMode:e:userModeuseruserMode:Mode::uuserMode:seruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:useuseuserMode:rMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMouserMode:de:ode:userMode:useuseruserMode:Mode:rMode:userMode:useruseruserMode:MouserMode:de:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:MuserMode:ode:userModeuseuserMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userMode:userModuserMode:e:userMode:userModeuserMode::uuserMode:serMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserModuserMode:e:e:useruserModeuserModeuserMode:::ModeuserModuserMode:e::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruuserMode:seuserMode:ruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeuserMode::rususerMode:erMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode:userMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ouserMode:de::userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:useruseruuserMode:serMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:uuserMode:serMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuuserMode:serMode:ode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouserMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserModeuserMode::deuserMuserMode:ode::userModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:Mode::userMode:Mode:useuserMode:rMuserMuserMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuuserMode:serModeuseruserMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:serMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[userMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserMode:Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:t->q_des[3], userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auserModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruserMode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMode:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserMode:Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuserMode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:userModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_userMode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuserMode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserMode:Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususerMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userMode:uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususerMode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuserMode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruserMode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuserMuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserMode:rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserModeuserMode:::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModeuserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userMode:rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerMode:erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:eruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserMode:serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserModuserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserMode:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rtuserMode:->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:ModuserMode:e:Mode:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userModuserMode:e:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erModuserMode:e:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForuserMode:userModuserMode:e:useruserModeuserMode::Mode:userModuserMode:euserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:ususerMode:euserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:ususerMode:erMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:suserMode:eruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:ususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserModuserMode:e:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:userModuserMode:e:rt->userModuserMode:e:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:userModeuserMode::userMode:userMode:ususerMode:eruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMouserMode:de:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruseuserMode:rMode:ModeuserMode::userModeuseuseruserMode:Mode:rMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:serModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:userModeuserModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouserModeuserMode::de::uuserMode:serMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userusuuserMode:serMode:userMode:eruserMode:userMode:ModuserMode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:ususerMode:ususerMode:erMode:erMouserMode:duserMode:e:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useuserMode:ruserModuseruserMode:Mode:e:userMode:Mode:ususerMuserMode:ode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userMouserMode:duserMuserMode:ode:e:ususerMode:eruserMode:Mode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:userMode:de:userMode:useuserMode:rModuseruserMode:MouserMode:de:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:userususerMode:erMode:Mode:userMode:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:uuserMode:serMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:ususerMode:eruserMode:Mode:userModuserMode:userMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:uuserMode:serususerMode:eruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMuserMode:ode:de:useruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseususerMode:erMode:rMode:ode:useuserMode:rMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//useuserMode:rModuserMode:e:	useruseuserMode:rMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::userMode:seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:ususerMode:eruserMode:MouserMode:duserMode:euserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::uuserMode:serMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuseuserMode:rMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuuserMode:serMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:userMouserMode:de:useruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMouserMode:de:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:ususerMode:erMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:riuserMuserMouserMode:de:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMouserMode:de:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:ususeuserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserMode::userMouseruserMode:Mode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:MouserMode:de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuserMode:ode:useuserMode:rMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMouserMode:de::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rMode:useuserMode:rMode:ususerMode:erMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:uuserMode:serMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserMuserMode:odeuserMuserMode:ode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jguserMode:oal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeususerMode:erMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:duserMode:e::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::userMode:useruseuserMode:rMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useruseruserModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:MuserMode:ode:userModeuserModuserMode:e:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:userMode:userModuserMode:e:userModeuseruserMode:Mode::uuserModeuserMode::seruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:useuseuserMode:rMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMouserMode:de:ode:userMode:useuseruserMode:Mode:rMode:userMode:useruseruserMode:MouserMode:de:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:MuserMode:ode:userModeuseuserMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userMode:userModuserMode:e:userMode:userModeuserMode::uuserMode:serMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserModuserMode:e:e:useruserModeuserModeuserMode:::ModeuserModuserMode:e::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruuserMode:seuserMode:ruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeuserMode::rususerMode:erMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode:userMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ouserMode:de::userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:useruseruuserMode:serMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:uuserMode:serMode:userModeuserMode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuuserMode:serMode:ode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouseuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserModeuserMode::deuserMuserMode:ode::userModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:Mode::userMode:Mode:useuserMode:rMuserMuserMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuuserMode:serModeuseruserMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:serMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[userMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserMode:Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:t->q_des[3], userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMode:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruserMode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMode:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuserMode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:userMode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_userMode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuserMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuserMode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)userMode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuserMode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuserMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususerMode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuserMode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruserMode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuserMode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rMode:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::userMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserModeuserMode:::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:userMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModeuserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::userMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerMode:erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:eruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuserMode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserMode:serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserModuserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserMode:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rtuserMode:->useruserMode:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userModuserMode:e:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erModuserMode:e:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:erMode:userModuserMode:e:useruserModeuserMode::Mode:userModuserMode:euserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:ususerMode:euserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:ususerMode:erMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:suserMode:eruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:ususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserModuserMode:e:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userModeuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:userModuserMode:e:rt->userModuserMode:e:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMouserMode:de:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:userModeuserMode::userMode:userMode:ususerMode:eruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMouserMode:de:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruseuserMode:rMode:ModeuserMode::userModeuseuseruserMode:Mode:rMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:suserMode:erModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:userModeuserModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouserModeuserMode::de::uuserMode:serMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userusuuserMode:serMode:userMode:eruserMode:userMode:ModuserMode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:ususerMode:ususerMode:erMode:erMouserMode:duserMode:e:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useuserMode:ruserModuseruserMode:Mode:e:userMode:Mode:ususerMuserMode:ode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userMouserMode:duserMuserMode:ode:e:ususerMode:eruserMode:Mode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:userMode:de:userMode:useuserMode:rModuseruserMode:MouserMode:de:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:userususerMode:erMode:Mode:uuserMode:serMode:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:uuserMode:serMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:ususerMode:eruserMode:Mode:userModuserMode:userMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:uuserMode:serususerMode:eruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMuserMode:ode:de:useruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseususerMode:erMode:rMode:ode:useuserMode:rMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//useuserMode:rModuserMode:e:	useruseuserMode:rMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::userMode:seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:ususerMode:eruserMode:MouserMode:duserMode:euserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::uuserMode:serMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuseuserMode:rMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuuserMode:serMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:userMouserModeuserMode::de:useruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMouserMode:de:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:ususerMode:erMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:riuserMuserMouserMode:de:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMouserMode:de:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:ususeuserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserMode::userMouseruserMode:Mode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:MouserMode:de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuserMode:ode:useuserMode:rMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMouserMode:de::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rMode:useuserMode:rMode:ususerMode:erMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:uuserMode:serMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserMuserMode:odeuserMuserMode:ode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jguserMode:oal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeususerMode:erMode::useruserMode:MouserMode:de:useruserMode:Mode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:duserMode:e::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::userMode:useruseuserMode:rMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useruseruuserMode:serModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:MuserMode:ode:userModeuserModuserMode:e:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:userMode:userModuserMode:e:userModeuseruserMode:Mode::uuserModeuserMode::seruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:useuseuserMode:rMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMouserMode:de:ode:userMode:useuseruserMode:Mode:rMode:userMode:useruseruserMode:MouserMode:de:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:MuserMode:ode:userModeuseuserMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userMode:userModuserMode:e:userMode:userModeuserMode::uuserMode:serMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserModuserMode:e:e:useruserModeuserModeuserMode:::ModeuserModuserMode:e::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruuserMode:seuserMode:ruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeuserMode::rususerMode:erMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode:userMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:deuserMuserMode:ouserMode:de::userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:useruseruuserMode:serMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:uuserMode:serMode:userModeuserMuserMode:ode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuuserMode:serMode:ode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouseuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserModeuserMode::deuserMuserMode:ode::userModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:Mode::userMode:Mode:useuserMode:rMuserMuserMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuuserMode:serModeuseruserMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:serMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[userMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserMode:Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:t->q_des[3], userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuserMode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruserMode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuserMode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_userMode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuserMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuserMode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuserMode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserMode:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuserMode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususerMode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuserMode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruserMode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuserMode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuserMode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nter_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususerMode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserModeuserMode:::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::useuserMode:rModuserMode:e:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModeuserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ode:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerMode:erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:Mode:Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:eruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserMode:serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserModuserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserMode:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userModuserMode:e:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erModuserMode:e:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:erMode:userModuserMode:e:useruserModeuserMode::Mode:userModuserMode:euserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:ususerMode:euserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:ususerMode:erMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:suserMode:eruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:ususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserModuserMode:e:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userMouserMode:deuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:userModuserMode:e:rt->userModuserMode:e:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMouserMode:de:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:userModeuserMode::userMode:userMode:ususerMode:eruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMouserMode:de:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserModuserMode:e:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruseuserMode:rMode:ModeuserMode::userModeuseuseruserMode:Mode:rMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:suserMode:erModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:userModeuserModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouserModeuserMode::de::uuserMode:serMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userusuuserMode:serMode:userMode:eruserMode:userMode:ModuserMode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:ususerMode:ususerMode:erMode:erMouserMode:duserMode:e:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useuserMode:ruserModuseruserMode:Mode:e:userMode:Mode:ususerMuserMode:ode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userMouserMode:duserMuserMode:ode:e:ususerMode:eruserMode:Mode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:userMode:de:userMode:uuserMode:seuserMode:rModuseruserMode:MouserMode:de:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:userususerMode:erMode:Mode:uuserMode:serMode:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:uuserMode:serMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:ususerMode:eruserMode:Mode:userModuserMode:userMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:uuserMode:serususerMode:eruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMuserMode:ode:de:useruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseususerMode:erMode:rMode:ode:useuserMode:rMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//useuserMode:rModuserMode:e:	useruseuserMode:rMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::userMode:seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:ususerMode:eruserMode:MouserMode:duserMode:euserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode::uuserMode:serMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuseuserMode:rMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserModuserMode:e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuuserMode:serMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:userMouserModeuserMode::de:useruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMouserMode:de:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:ususerMode:erMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:riuserMuserMouserMode:de:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMouserMode:de:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:ususeuserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserMode::userMouseruserMode:Mode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:MouserMode:de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuserMode:ode:useuserMode:rMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMouserMode:de::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rMode:useuserMode:rMode:ususerMode:erMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:uuserMode:serMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserMuserMode:odeuserMuserMode:ode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jguserMode:oal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeususerMode:erMode::useruserMode:MouserMode:de:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:duserMode:e::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::userMode:useruseuserMode:rMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useruseruuserMode:serModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:MuserMode:ode:userModeuserModuserMode:e:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:userMode:userModuserMode:e:userModeuseruserMode:Mode::uuserModeuserMode::seruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:useuseuserMode:rMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMouserMode:de:ode:userMode:useuseruserMode:Mode:rMode:userMode:useruseruserMode:MouserMode:de:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:MuserMode:ode:userModeuseuserMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userMode:userModuserMode:e:userMode:userModeuserMode::uuserMode:serMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserModuserMode:e:e:useruserModeuserModeuserMode:::ModeuserModuserMode:e::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruuserMode:seuserMode:ruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserMode:de:useruserMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeuserMode::rususerMode:erMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode:userMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:MouserMode:deuserMuserMode:ouserMode:de::userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:useruseruuserMode:serMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:uuserMode:serMode:userModeuserMuserMode:ode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuuserMode:serMode:ode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouseuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserModeuserMode::deuserMuserMode:ode::userModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:Mode::userMode:Mode:useuserMode:rMuserMuserMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuuserMode:serModeuseruserMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:serMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[userMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserMode:Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:t->q_des[3], userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rMode:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruserMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususerMode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuserMode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserMode:de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_userMode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuseruserMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuserMode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuserMode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:userModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuserMode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erMode:userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususerMode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuserMode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruserMode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuserMode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususerMode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserModeuserMode:::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerMode:euserMode:rModuserMode:e:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModeuserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerMode:erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserMode:serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuserMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserModuserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userModuserMode:e:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erModuserMode:e:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:erMode:userModuserMode:e:useruserModeuserMode::Mode:userModuserMode:euserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:ususerMode:euserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:ususerMode:erMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:suserMode:eruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userModuserMode:ususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserModuserMode:e:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userMouserMode:deuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:userModuserMode:e:rt->userModuserMode:e:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMouserMode:de:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:userModeuserMode::userMode:userMode:ususerMode:eruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMouserMode:de:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserModuserMode:e:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruseuserMode:rMode:ModeuserMode::userModeuseuseruserMode:Mode:rMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:suserMode:erModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:userModeuserModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouserModeuserMode::de::uuserMode:serMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userusuuserMode:serMode:userMode:eruserMode:userMode:ModuserMode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:ususerMode:ususerMode:erMode:erMouserMode:duserMode:e:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useuserMode:ruserModuseruserMode:Mode:e:userMode:Mode:ususerMuserMode:ode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:MouserMode:de:userMode:userMouserMode:duserMuserMode:ode:e:ususerModeuserMode::eruserMode:Mode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:userMouserMode:userMode:de:userMode:uuserMode:seuserMode:rModuseruserMode:MouserMode:de:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:userususerMode:erMode:Mode:uuserMode:serMode:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:uuserMode:serMode:useruserMode:Mode:userMode:userMode:userMouserMouserMode:de:de:ususerMode:eruserMode:Mode:userModuserMode:userMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMode::useuserMode:rMode:uuserMode:serususerMode:eruserMode:Mode:Mode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:rMouserMuserMode:ode:de:useruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMode::useruserMode:MuseususerMode:erMode:rMode:ode:useuserMode:rMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useruserModeuserMode::		//useuserMode:rModuserMode:e:	useruseuserMode:rMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xee[0uuserModeuserMode::userMode:seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:ususerMode:eruserMode:MouserMode:duserMode:euserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruuserMode:serMode:ModeuserMode::uuserMode:serMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuseuserMode:rMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserModuserMode:e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuuserMode:serMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:userMouserModeuserMode::de:useruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMouserMode:de:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:ususerMode:erMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:riuserMuserMouserMode:de:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMouserMode:de:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:ususeuserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserMode::userMouseruserMode:Mode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode::de:MouserMode:de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuserMode:ode:useuserMode:rMode:ususerMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMouserMode:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMouserMode:de::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rMode:useuserMode:rMode:ususerMode:erMode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:uuserMode:serMode:userMouserMode:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserMuserMode:odeuserMuserMode:ode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:userMode:3*rt->jguserMode:oal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeususerMode:erMode::useruserMode:MouserMode:de:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:duserMode:e::uuserModeuserMode::seruserMode:Mode:userMode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::userMode:useruseuserMode:rMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useruseruuserMode:serModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:MuserMode:ode:userModeuserModuserMode:e:userMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:userMode:userModuserMode:e:userModeuseruserMode:Mode::uuserModeuserMode::seruserMode:Mode:userMode:userModeuserModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:useuseuserMode:rMode:rModeuserMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMouserMode:de:ode:userMode:useuseruserMode:Mode:rMode:userMode:useruseruserMode:MouserMode:de:*rt->jgoal[2],userMode:useuserMode:rModeuserModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:MuserMode:ode:userModeuseuserMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userMode:userModuserMode:e:userMode:userModeuserMode::uuserMode:serMode:useruserModeuserMode::Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userModuserModuserMode:e:e:useruserModeuserModeuserMode:::ModeuserModuserMode:e::userMode:userMode:userModeuserMode::uuserModeuserMode::serMode:useuserMode:ruseruuserMode:seuserMode:ruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userMouserModuserMode:e:de:useruserMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeuserMode::rususerMode:erMode:Mode:ter_org.cpp:					userMode:userMode:	5userModeuserMode:userMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuserMode:ruserMode:Mode:userMode:useruserMode:MouserMode:deuserMuserMode:ouserMode:de::userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:useruseruuserMode:serMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:uuserMode:serMode:userModeuserMuserMode:ode::useruserMode:Mode:useuserMode:rMode:userMode:userMode:userMouserMode:deuserMuuserMode:serMode:ode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouseuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useruserMode:MouserModeuserMode::deuserMuserMode:ode::userModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:Mode::userMode:Mode:useuserMode:rMuserMuserMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMode:ruserMode:Mode:userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuuserMode:serModeuseruserMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:serMuserMode:ode:3],userMode: 57.3*rt->q[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[userMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserMode:Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:t->q_des[3], userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dquseruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserMode:ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], rtuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuserMode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususerMode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruseruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuserMode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuserMode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_userMode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserMode:serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:de:userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuserMode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuserMode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuserMode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:rMuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuserMode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususerMode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuserMode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruserMode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruserMode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuserMode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuserMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:userMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususerMode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:userMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserModeuserMode:::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:ususerMode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerMode:euserMode:rModuserMode:e:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModeuserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeuserMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerMode:erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserMode:serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserMode:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMode:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:userMode:userMouserMode:de:userModuserMode:e:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserMode:Mode:userMode:ususerMode:erModuserMode:e:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:erMode:userModuserMode:e:useruserModeuserMode::Mode:userModuserMode:euserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:ususerMode:euserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:ususerMode:erMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserMode::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:suserMode:eruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userMouserMode:duserMode:ususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserModuserMode:e:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userMouserMode:deuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:userModuserMode:e:rt->userModuserMode:e:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMouserMode:de:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:userModeuserMode::userMode:userMode:ususerMode:eruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMouserMode:de:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerModuserMode:e:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:useuserMode:rModeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserModuserMode:e:Mode::userMode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruseuserMode:rMode:ModeuserMode::userModeuseuseruserMode:Mode:rMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:suserMode:erModeuserMode:::userMode:useuserMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:userModeuserModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouserModeuserMode::de::uuserMode:serMode:userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userusuuserMode:serMode:userMode:eruserMode:userMode:ModuserMode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::ode: 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ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuserModeuserMode::userMode:seruserMode:ModeuserMode:userMode::userMuserMode:ode:useuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:useuserMode:rMode:ususerMode:eruserMode:MouserMode:duserMode:euserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruuserMode:serMode:ModeuserMode::uuserMode:serMode:userMode:uuserModeuserMode::serMode:userModeuserMode::useruserMode:MuserMode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuserMode::ModeuseuserMode:rMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserModuserMode:e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode::userMuuserMode:serMode:ode:useuserMode:rMode:userMode:userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:userMouserModeuserMode::de:useruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userMode:userMouserMode:de:userMuserMode:ode:useuserMode:rMode:useruserMode:ModeuserMode::useuserMode:rMode:ususerMode:erMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:riuserMuserMouserMode:de:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], 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rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuserMode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuserMode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususerMode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rMode:userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuserMode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuserMode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_userMode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuserMode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuserMode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuserMode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuserMode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususerMode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuserMode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruserMode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuserMode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:ode:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:e:Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:ususerMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususerMode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuuserMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserModeuserMode:::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserMode:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:ususerMode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerMode:euserMode:rModuserMode:e:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuserMode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModeuserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerMode:erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserMode:serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:userModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuserMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::userMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserMode:ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuserMode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususerMode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuserMode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:userMode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuserMode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_userMode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuserMode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuserMode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (time4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuserMode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuserMode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususerMode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuserMode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruserMode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuserMode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::useruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:ususerMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususerMode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuserMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserModeuserMode:::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:userMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:ususerMode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerMode:euserMode:rModuserMode:e:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserMode:Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModeuserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerMode:erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserModeuserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserMode:serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModeuserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:							rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMode:pruserMode:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMode:userMouserMode:de:userModuserMode:e:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserMode:e:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0],userMode: 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ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserMode:ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltaguseruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:serExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuserMode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouserMode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeususeruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususerMode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuserMode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:ode:main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuserMode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_userMode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:userMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuserMode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuserMode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::erMode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuserMode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuserMode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serMode:userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususerMode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuserMode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruserMode:Mode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuserMode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:Mode:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:ususerMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususerMode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserMode:euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuseuserMode:rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserModeuserMode:::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:ususerMode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerMode:euserMode:rModuserMode:e:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userModeuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserMode:Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModeuserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuserMode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserModeuserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserMode:serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:			userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:useuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMuserMode:ode:pruserMode:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMode:userMouserMode:de:userModuserMode:e:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserMode:e:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0],userMode: 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rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuserMode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuserModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuserMode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouserMode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususerMode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuserMode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuserMode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_userMode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:userMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuserMode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuserMode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserMode:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuserMode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuserMode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:e:userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususerMode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruserMode:Mode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuserMode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserMode:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:ususerMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususerMode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserMode::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuseuserMode:rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserModeuserMode:::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserModuserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:ususerMode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerMode:euserMode:rModuserMode:e:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserMode:Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModeuserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuserMode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rMode:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserModeuserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserMode:serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:Mode:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:			userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMode:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMuserMode:ode:pruserMode:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMode:userMouserMode:de:userModuserMode:e:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserMode:e:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->desiuserMouserMode:de:redForce[userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:erMode:userModuserMode:e:useruserModeuserMode::Mode:userModuserMode:euserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:serususerMode:erMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMouserMode:de:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:ususerMode:euserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userMouserMode:de:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:ususerMode:erMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserModuserMode:e::userMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:suserMode:eruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userMouserMode:duserMode:ususerModeuserMode::erMode:e:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMode:serMode:ruserModuserMode:e:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userMouserMode:deuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:userModuserMode:e:rt->userModuserMode:e:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMouserMode:de:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModeuserMode::userMode:userMode:ususerMode:eruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMouserMode:de:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:uuserMode:serMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruserModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:uuserMode:serMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seuserMode:ruserMode:Mode:ususerModeuserMode::erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerModuserMode:e:erMode:seruserMode:				rt-userMode:>force[1], 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57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>force[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModuserMode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgoal);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuserMode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouserMode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususerMode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuserMode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuserMode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_userMode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:Mode:userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMouserModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:userMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuserMode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuserMode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserMode:Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuserMode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuserMode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususerMode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruserMode:Mode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuserMode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruserMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuserMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:ususerMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususerMode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuseuserMode:rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userModeuserModeuserMode:::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:ususerMode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerMode:euserMode:rModuserMode:e:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouserMode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserMode:Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModeuserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:Mode:xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuserMode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:de:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserModeuserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:useruserMode:Mode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:			userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerMode:erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMuserMode:ode:pruserMode:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserMode:ModeuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuserMode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuserMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuserMode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouserMode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:Mode:serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususerMode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuserMode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuserMode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_userMode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuserMode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMouserModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:userMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuserMode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuserMode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuserMode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:userMode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuserMode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruserMode:Mode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuserMode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruseuserMode:rMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserMode:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:ususerMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususerMode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserMode::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuseuserMode:rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:useuserMode:rMode:userModeuserMode:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerMode:erModeuserModeuserMode:::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:ususerMode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerMode:euserMode:rModuserMode:e:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:ruserMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouserMode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserMode:Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModeuserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserMode:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuserMode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::de:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserModeuserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:ususerMode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:			userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserMode:e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMuserMode:ode:pruserMode:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userMode: rt-userMode:>userMode: \n", rtuserMode:-useruserModeuserMode::ModeuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuserMode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruserMode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuserMode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouserMode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususerMode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuserMode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuserMode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:Mode:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruserMode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuserMode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:userMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuserMode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuserMode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserMode:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuserMode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruserMode:Mode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuserMode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruseuserMode:rMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:ususerMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususerMode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuseuserMode:rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerMode:euserMode:rMode:userModeuserMode:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerMode:erModeuserModeuserMode:::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:ususerMode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerMode:euserMode:rModuserMode:e:userMode:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouserMode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserMode:Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModeuserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserMode:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuserMode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserModeuserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:			userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erMode:e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMuserMode:ode:pruserMode:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMode:userMouserMode:de:userModuserMode:e:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserMode:e:userMode:userMouserMode:de:userMode:userModeuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userMouserMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userMouserMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->duserMode:esiuserMouserMode:de:redForce[userModeuserMode::0],userMode: 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rt-userMode:>userMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::ModeuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuserMode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuserModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouserMode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruserMode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuserMode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMode:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouserMode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususerMode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuserMode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuserMode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houseruserMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouserMode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruserMode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuserMode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:userMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuserMode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuserMode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userMode:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuserMode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruserMode:Mode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruserMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuseruserMode:Mode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruseuserMode:rMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:ususerMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:userMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuseuserMode:rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:userMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerMode:euserMode:rMode:userModeuserMode:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerMode:erModeuserModeuserMode:::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:ususerMode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerMode:euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouserMode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserMode:Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModeuserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:Mode:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuserMode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userMode:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserModeuserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:			userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMode:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMuserMode:ode:pruserMode:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMode:userMouserMode:de:userModuserMode:e:userModeuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserMode:e:userMode:userMouserMode:de:userMode:userMouserMode:deuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userMouserMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userMouserMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->duserMode:esiuserMouserMode:de:redForce[userModeuserMode::0],userMode: 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rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::ModeuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuserMode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModeuserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserMode:ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserMode:rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuserMode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouserMode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruserMode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuserMode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouserMode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususerMode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuserMode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuserMode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:printeuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususerMode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouserMode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruserMode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuserMode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:userMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuserMode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuserMode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserMode::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuseuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:erMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruserMode:Mode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuseruserMode:Mode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruseuserMode:rMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:ususerMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:useruseruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuseuserMode:rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserMode::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerMode:euserMode:rMode:userModeuserMode:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerMode:erModeuserModeuserMode:::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerMode:euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouserMode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserMode:Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModeuserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuserMode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:Mode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:useruseruserModeuserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:			userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:useruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMuserMode:ode:pruserMode:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:userMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMode:userMouserMode:de:userModuserMode:e:userMouserMode:deuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserMode:e:userMode:userMouserMode:de:userMode:userMouserMode:deuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeuserMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userMouserMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userMouserMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMode:	rt->duserMode:esiuserMouserMode:de:redForce[userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:erMode:userModuserMode:e:useruserModeuserMode::Mode:userModuserMode:euserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:serususerMode:erMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:userMode:useruserMode:userMode:Mode:userMouserMode:de:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:ususerMode:euserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:uuserMode:serMouserMode:de:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:ususerMode:erMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserModuserMode:e::userMode:useuserModuserMode:e:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:suserMode:eruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userMouserMode:duserMode:ususerModeuserMode::erMode:e:userMode:useuserModuserMode:e:ruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMouserMode:de:serMode:ruserModuserMode:e:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userMouserMode:deuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:uuserMode:serModuserMode:e:rt->userModuserMode:e:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:Mode:ususerMode:euserMode:rMode:userMouserMode:de:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModeuserMode::userMode:userMode:ususerMode:eruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMouserMode:de:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:uuserMode:serMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuserMode:serModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:uuserMode:serMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seususerMode:erMode:ruserMode:Mode:ususerModeuserMode::erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerModuseruserMode:Mode:e:erMode:seruserMode:				rt-userMode:>force[1], rt->fuserususerMode:erMode:Mode:orce[2])userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:useuserMode:rMuserMode:odeususerMode:erMode::userMode:ususerMode:eruserMode:Mode:userMouserMode:deuserMode::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserModuserMode:e:Mode::userMode:useruserMode:MuserMode:ode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuserMode::userMouserMode:de:useruseuserMode:rMode:ModeuserMode::userModeuseuseruserMode:Mode:rMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:suserMode:erModeuserMode:::userMode:useususerMode:erMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:userModeuserModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouserModeuserMode::de::uuserMode:serMode:userMode:useruserMuserMuserMode:ode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:userMode:userMode:userusuuserMode:serMode:userMode:eruserMode:userMode:ModuserMode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::userMode:ode: 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ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuserMode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::ModeuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuserMode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rMode:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuserMode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::userMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouserMode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuserMode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouserMode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruserMode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuserMode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouserMode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserMode:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususerMode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuserMode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuserMode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuserMode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususerMode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouserMode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruserMode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuserMode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:userMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuserMode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuserMode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserMode::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:erModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruserMode:Mode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuseruserMode:Mode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruseuserMode:rMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cpp:					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserMode::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:ususerMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuseuserMode:rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMode:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserMode:e::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerMode:euserMode:rMode:userModeuserMode:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerMode:erModeuserModeuserMode:::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerMode:euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouserMode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:useuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserMode:Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuserMode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModeuserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:			userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMode::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMode:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuserMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::ModeuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuserMode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuserMode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userMode:)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuserMode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouserMode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuserMode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouserMode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruserMode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuserMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuserMode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouserMode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususerMode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruserMode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuserMode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuserMode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuserMode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususerMode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouserMode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruserMode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuserMode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:userMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:Mode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuserMode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruserMode:Mode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruserMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuseruserMode:Mode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruseuserMode:rMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:userModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:org.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:ususerMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMode:					rt->x_desuseuseuserMode:rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserMode:de:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserMode:e::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerMode:euserMode:rMode:userModeuserMode:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerMode:erModeuserModeuserMode:::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerMode:euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouserMode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMode:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserMode:Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModeuserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModeuserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:userMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:			userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: 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57userMode:.3*rt-userMode:useuserMode:ruserMode:MoususerMode:erModeuserMode::deuserMuserMode:ode::userModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModeuserMode:userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:Mode::userMode:Mode:useuserMode:rMuserMuserMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMuserMode:ode:ruserModeuserMode::Mode:userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::printer_org.userMode:cpuuserMode:serModeuseruserMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:serMuserMode:ode:3],userMode: 57.3*rt->q[4]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[userMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:Mode:t->q_des[3], userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode::Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseruserMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->dq[4]);
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::ModeuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuserMode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userMode:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserMode::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuserMode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuserMode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouserMode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuserMode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouserMode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruserMode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuserMode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouserMode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususerMode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruserMode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerModuserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuserMode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuserMode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuserMode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuserMode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususerMode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouserMode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruserMode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuserMode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			pruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:userMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruserMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuseuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruserMode:Mode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuseruserMode:Mode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruseuserMode:rMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:useruserMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:ususerMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserMode:de:					rt->x_desuseuseuserMode:rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserMode:de:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserMode:e::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerMode:euserMode:rMode:userModeuserMode:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerMode:erModeuserModeuserMode:::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerMode:euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouserMode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserMode:Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModeuserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:			userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMode:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMouserMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuserMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForususerMode:erMode:userModuserMode:e:useruserModeuserMode::Mode:userModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:serususerMode:erMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:uuserMode:serMode:useruserMode:userMode:Mode:userMouserMode:de:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:useruserMode:MouserMode:de:userMode:ususerMode:euserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:uuserMode:serMouserMode:de:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuserMode:e:Mode:ususerMode:erMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserModuserMode:e::userMode:useuserModuserMode:e:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:suserMode:eruserMode:Mode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userMouserMode:duserMode:ususerModeuserMode::erMode:e:userMode:useuserModuserMode:e:ruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMouserMode:de:Mode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMouserMode:de:serMode:ruserModuserMode:e:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userMouserMode:deuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:uuserMode:serModuserMode:e:rt->userModuserMode:e:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:MuserMode:ode:ususerMode:euserMode:rMode:userMouserMode:de:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModeuserMode::userMode:userMode:ususerMode:eruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMuserMode:ouserMode:de:usuuserMode:serMode:erMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:uuserMode:serMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuserMode:serModeuserMode::Mode:ususerMode:erMode:useruserMode:MouserMode:de:uuserMode:serMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seususerMode:erMode:ruserMode:Mode:ususerModeuserMode::erMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerModuseruserMode:Mode:e:erMode:seruserMode:				rt-userMode:>force[1], 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rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuserMode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserMode::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuserMode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruserModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuserMode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuserMode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouserMode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuserMode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouserMode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruserMode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuserMode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouserMode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModuserMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususerMode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setLouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuserMode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuserMode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuserMode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuserMode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususerMode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouserMode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruserMode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuserMode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serMode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:userMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuserModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuserMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseususerMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruserMode:ModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruseruserMode:Mode:Mode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuseruserMode:Mode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruseuserMode:rMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMode:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:ususerMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserMode:de:					rt->x_desuseuseuserMode:rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserMode:de:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserMode:e::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerMode:euserMode:rMode:userModeuserMode:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerMode:erModeuserModeuserMode:::userModeuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerMode:euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserMode:Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserMode:Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModeuserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserMode:ruserMode:Mode:useruserMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:userMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:			userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userModeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMode::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouserMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMouserMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuserMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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57.useruserMode:Mode:3*rt->duserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::pp:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::ModeuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuserMode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModeuserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruserMode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouserMode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuserMode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuserMode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouserMode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuserMode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouserMode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruserMode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userModuserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuserMode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususerMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouserMode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususerMode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruserMode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuserMode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuserMode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuserMode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususerMode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouserMode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruserMode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuserMode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:userMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:userMode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuserMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:userModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruseruserMode:Mode:Mode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuseruserMode:Mode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruseuserMode:rMode:Mode:ususerMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rMode:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:ususerMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserMode:de:					rt->x_desuseuseuserMode:rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserMode:de:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserMode:e::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerMode:euserMode:rMode:userModeuserMode:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerMode:erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerMode:euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,userMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserMode:Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModeuserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useuserMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserMode:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: 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57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeususerMode:erMode::useruserMode:MouserMode:de:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:duserMode:e::uuserModuserMode:euserMode::seruserMode:Mode:useruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::userMode:useruseuserMode:rMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useruseruuserMode:serModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:MuserMode:ode:userModeuserModuserMode:e:userMode::uuseuseruserMode:Mode:rModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:userMode:userModuserMode:e:userModeuseruserMode:Mode::uuserModeuserMode::seruserMode:Mode:userMode:userModeuseruserMode:ModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:useuuserMode:seuserMode:rMode:rModeuserMode:userMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMouserMode:de:ode:userMode:useuseruserMode:Mode:rMode:userMode:useruseruserMode:MouserMode:de:*rt->jgoal[2],userMode:useuserMode:rModeuseruserMode:ModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:MuserMode:ode:userModeuseususerMode:erMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserMode:userMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userMode:userModuserMode:e:userMode:userModeuserMode::uuserMode:serMode:useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userModuserMouserMode:duserMode:e:e:useruserModeuserModeuserMode:::ModeuserModuserMode:e::userMode:userMode:userModeuserMode:userMode::uuserModeuserMode::serMode:useuserMode:ruseruuserMode:seuserMode:ruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:useuserMode:rMouserModuserMode:e:de:useruserMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeuserMode::rususerMode:erMode:ModeuserMode::ter_org.cpp:					userMode:userMode:	5userModeuserMode:userMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuserMode:ruserMode:Mode:userMode:useuserMode:ruserMode:MouserMode:deuserMuserMode:ouserMode:de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:Mode::rMode:userMode:userMode:useruseruuserMode:serMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:uuserMode:serMode:userModeuserMuserMode:ode::useruserMode:Mode:useuserMode:rMode:userMode:useuserMode:rMode:userMouserMode:deuserMuuserMode:serMode:ode:userMode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouseuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useuserMode:ruserMode:MoususerMode:erModeuserMode::deuserMuserMode:ode::userModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserMode:userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:Mode::userMode:Mode:useuserMode:rMuserMuserMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMuserMode:ode:ruserModeuserMode::Mode:userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inter_org.userMode:cpuuserMode:serModeuseruserMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:serMuserMode:ode:3],userMode: 57.3*rt->q[4]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[userMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:Mode:t->q_des[3], userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode::Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseruserMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::pp:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::ModeuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuserMode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuserMode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:Mode::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouserMode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuserMode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuserMode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouserMode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuserMode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouserMode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruserMode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserMode:de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuserMode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouserMode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		userMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::Mode:userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruserMode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruserMode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuserMode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuserMode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuserMode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususerMode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouserMode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruserMode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuserMode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuserModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:userModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:ode:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMouserMode:de:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruseruserMode:Mode:Mode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuseruserMode:Mode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuserMode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:ususerMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:useuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:userMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserMode:de:					rt->x_desuseuseuserMode:rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserMode:de:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserMode:e::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:ruseruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerMode:euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerMode:erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerMode:euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserMode:Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModeuserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useruseruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useuseuserMode:rMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserMode:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:			userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userMuserMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouserMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMouserMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuserMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::pp:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::ModeuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuserMode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguserMode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuserMode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouserMode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuserMode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuserMode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouserMode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuserMode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouserMode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruserMode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuserMode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouserMode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:Mode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuserMode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruserMode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruserMode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuserMode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuserMode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuserMode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususerMode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouserMode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruserMode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuserMode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserMode:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:serMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userMode:userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:userMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:oduserMode:e:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMouserMode:de:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruseruserMode:Mode:Mode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuseruserMode:Mode:ode:e:userMode:userMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMode:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:ususerMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserMode:seuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:userMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserMode:de:					rt->x_desuseuseuserMode:rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserMode:de:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserMode:e::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerMode:erMode:userMode:useruserMode:ModeuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerMode:euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerMode:erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::useuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserMode:Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModeuserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userususerMode:eruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useuseuserMode:rMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserMode:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], 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rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:			userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userMuserMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouserMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMouserMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuserMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForususerMode:erMode:userModuserMode:e:useruserModeuserMode::Mode:userModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:serususerMode:erMode:Mode:ususerMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:uuserMode:serMode:useruserMode:userMode:Mode:userMouserMode:de:userMode:useruserMouserMode:de:Mode:userMode:ususeuserMode:rMode:erMode:useruserMode:MouserMode:de:userMode:ususerMode:euserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:uuserMode:serMouserMode:de:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuseuserMode:rMode:e:Mode:ususerMode:erMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserModuserMode:e::userMode:useuserModuserMode:e:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:suserMode:eruserMode:MuserMode:ode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userMouserMode:duserMode:ususerModeuserMode::erMode:e:userMode:useuserModuserMode:e:ruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMouserMode:de:Mode:userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMouserMode:de:serMode:ruserModuserMode:e:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:oruserMode:g.cpp:						userMouserMode:deuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:uuserMode:serModuserMode:e:rt->userModuserMode:e:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:MuserMode:ode:ususerMode:euserMode:rMode:userMouserMode:de:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModeuserMode::userMode:userMode:ususerMode:eruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMuserMode:ouserMode:de:usuuserMode:serMode:erMode:useruserMuserMode:ode:MouserMode:de:userMode:userModeuserMode::userMode:uuserMode:serMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuserMode:serModeuserMode::Mode:ususerMode:erMode:useruserMuserMode:ode:MouserMode:de:uuserMode:serMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seususerMode:erMode:ruserMode:Mode:ususerModeuserMode::erMode:userMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerModuseruserMode:Mode:e:erMode:seruserMode:				rt-userMode:>force[userMode:1], 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rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuserMode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: rt->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouserMode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuserMode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouserMode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuserMode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuserMode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouserMode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuserMode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouserMode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruserMode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:Mode:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuserMode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuserMode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouserMode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuserMode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuserMode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruserMode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruserMode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuserMode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuserMode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuserMode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususerMode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouserMode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruserMode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuserMode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uuserMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uuserMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModeuserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:oduserMode:e:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMouserMode:de:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruseruserMode:Mode:Mode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userMode:userMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:ususerMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserMode:serMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserMode:seuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:userMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserMode:de:					rt->x_desuseuseuserMode:rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserMode:de:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserMode:e::ode:nteruserMode:_org.userMode:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerMode:erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerMode:euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerMode:erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserMode:Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:euserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userususerMode:eruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useuseuserMode:rMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserMode:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:userMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususerMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userMuserMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouserMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMouserMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuserMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseruserMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::pp:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::ModeuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruserMode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: userMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erModuserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouserMode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuserMode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouserMode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuserMode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuserMode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouserMode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuserMode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouserMode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruserMode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouserMode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEuserModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouserMode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModuseruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuserMode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuserMode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruserMode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruserMode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuserMode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuserMode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuserMode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususerMode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouserMode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruserMode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uuserModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rModuserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserMode:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:userModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModuserMode:euserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:oduserMode:e:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMouserMode:de:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruseruserMode:Mode:Mode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:useruserMode:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:ususerMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserMode:rMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserMode:serMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserMode:seuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:userMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserMode:de:					rt->x_desuseuseuserMode:rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserMode:de:serMode:userMode:rModeuserMode::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserMode:e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerMode:erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerMode:euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerMode:erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:useruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:euserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userususerMode:eruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useuseuserMode:rMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserMode:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMode:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeuserMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userMuserMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouserMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMouserMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuserMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:uuserMode:serMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMode:userMouserMode:de:userModuserMode:e:userMouserMode:deuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserMode:e:userMode:userMouserMode:de:userMode:userMouserMode:deuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeususerMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userMouserMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMode:userMode:userMouserMode:de:userMode:userMouserMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:	rt->duserMode:esiuserMouserMode:de:redForce[userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:erMode:userModuserMode:e:useruserModeuserMode::Mode:userModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:serususerMode:erMode:Mode:ususeuserMode:rMode:erMode:userMode:userususerMode:erMode:Mode:userModeuseruserMode:Mode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:uuserMode:serMode:useruserMode:userMode:Mode:userMouserMode:de:userMode:useruserMouserMode:de:Mode:userMode:ususeuserMode:rMode:erMode:useruserMode:MouserMode:de:userMode:ususerMode:euserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:uuserMode:serMouserMode:de:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuseuserMode:rMode:e:Mode:ususerMode:erMode:userMouserMode:de:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserModuserMode:e::userMode:useuserModuserMode:e:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:suserMode:eruserMode:MuserMode:ode:ususerMode:erMode:userMode:userMouserMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userMouserMode:duserMode:ususerModeuserMode::erMode:e:userMode:useuserModuserMode:e:ruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMouserMode:de:Mode:userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:rususerMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMouserMode:de:serMode:ruserModuserMode:e:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:oruseuserMode:rMode:g.cpp:						userMouserMode:deuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:uuserMode:serModuserMode:e:rt->userModuserMode:e:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:MuserMode:ode:ususerMode:euserMode:rMode:userMouserMode:de:userMode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModeuserMode::userMode:userMode:ususerMode:eruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMuserMode:ouserMode:de:usuuserMode:serMode:erMode:useruserMuserMode:ode:MouserMode:de:userMode:userModeuserMode::userMode:uuserMode:serMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuserMode:serModeuserMode::Mode:ususerMode:erMode:useruserMuserMode:ode:MouserMode:de:uuserMode:serMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seususerMode:erMode:ruserMode:Mode:ususerModeuserMode::erMode:userMode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerModuseruserMode:Mode:e:erMode:seruserMode:				rt-userMode:>force[userMode:1], rt->fuserususerMode:erMode:Mode:orce[2])userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useruserModeuserMode::Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:useuserMode:rMuserMode:odeususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserMode::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:userModeuseruserModuserMode:e:Mode::userMode:useruserMode:MuserMode:ode:userModeuseruserMode:Mode::userMode:uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:de:useruseuserMode:rMode:ModeuserMode::userModeuseuseruserMode:Mode:rMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:suserMode:erModeuserMode:::userMode:useususerMode:erMode:ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:Mode:serMode:Mode:MouserMode:duserMode:e:userModeuserModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouserModeuserMode::de::uuserMode:serMode:userMode:useruserMuserMuserMode:ode:ode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:userusuuserMode:serMode:userMode:eruserMode:userMode:ModuserMode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMouserMode:de:useruserMode:ModuserMode:e:userMuseruserMode:Mode:ode:useuserMode:rMode:ususerMode:ususerMode:erMode:erMouserMode:duserMode:e:userMode:useruserMouserMode:de:Mode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:userModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMode:userMouserMode:de:userMode:userModuserMode:e:useususeruserMode:Mode:erMode:ruserModuseruserMode:Mode:e:userMode:Mode:ususerMuseuserMode:rMode:ode:erMode:userMode:userMode:userMode:useruserMouserModeuserMode::de:Mode:userMode:userMode:userMuserMode:ode:useuserMode:rMode:useruseruserMode:userMode:Mode:Mode:userMode:userMode:userMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMouserMode:duserMususeruserMode:Mode:erMode:ode:e:ususerModeuserMode::eruserMode:Mode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userMode:userMode:useruuserMode:serModeuserMode::Mode:",rt->x[userMode:userMode:0userMode:userMode:userMode:userMode:useruserMode:Mode:useruserMode:MouserModeuserMode::userMode:de:userMode:uuserModeuserMode::seuserMode:rModuseruserMode:MouserMode:de:e:userModuserMode:e:userMode:ususerMode:eruserMode:Mode:userMode:userMode:userMode:uuserModeuserMode::serMode:userMode:useruserMode:MuserMode:ode:useuserMode:rModeuserMode::userModeuserMode::userMode:userMode:userMode:useruuserMode:suserMode:erMode:userMode:Mode:uuserMode:serMode:userMouserMode:de:useuserMouserMode:de:rMode:ususerMode:eruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:userMode:userMode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:ode:useuserMuserMode:ode:rMode:userModeuserMouserMode:de::userMouserMode:de:uuserMode:serMode:useruserMode:userMode:Mode:userMode:userMode:userMouserMouserMode:de:de:userMode:ususerMode:eruserMode:Mode:userModuserMode:userMode:e:useruserMode:Mode:ususerMode:erMode:userMode:useruserMode:Mode:userMode:uuserModeuserMode::serMode:useruserMode:Mode:userMuserMode:odeuserMouserMode:de::useuserMode:rMode:uuserMode:serususerMode:eruserMode:Mode:Mode:userMode:userMode:useruserMode:userMode:ModeuserMode::useuserMode:rMouserMuserModuserMode:e:ode:de:useruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:Mode:userMode:uuserModeuserMode::serModeuserMouserMode:de::useruserMode:MuseususerMode:erMode:rMode:ode:useuserMode:rMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:useruserModeuserMode::		//useuserMode:rModuseuserMode:rMode:e:	useruseuserMode:rMode:Mode:		rt->xuserMode:[1userMode:], ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuserModeuserMode::userMode:seruserMode:ModeuserMode:userMode:userMode::userMuserMode:ode:useuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:useuserMode:rMode:ususerMode:eruserMode:MouseuserMode:rMode:duserMode:euserMuserMode:ode::userModuserMode:e:userMode:userMode:ususerMode:eruuserMode:serMode:ModeuserMode::uuserMode:serMode:userMode:uuserModeuserMode::serMode:userModeuserMode:userMode::useruserMode:MuserMode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModeuuserMode:serMode::ModeuuserMode:seuserMode:rMode::userMode:userMouuserMode:serMode:de:useruserMode:Mode:userModuserModuserMode:e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::seruseruserMode:Mode:ModeuserMode:userMode::userMuuserMode:serMode:ode:useuserMode:rMode:userMode:userMode:useruserMuserMode:ode:ModeuseruuserMode:serMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:userMouserModeuserMode::de:useruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:userMode:useruserMode:ModeususerModeuserModeuserMode:::erMode::userModeuserMode::userMouserMode:de:userMuserMode:ode:useuserMouserMode:de:rMode:useruserMode:ModeuserMode::useuserMode:ruserMode:Mode:ususerMode:erMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:riuserMuserMouserMode:de:ode:nuserModuserMode:e:ter_org.cpp:						ususerMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMoususerMode:erMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:usususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserMode::userMouseruserMode:Mode:de:useruserMode:userMode:ModuserMode:e:userMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:MoususerMode:erMode:de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuserMode:ode:useuserMode:rMode:usususerMode:erMode:eruserMode:Mode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMouserMouserMode:de:de:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMouserMode:deuserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rMode:useuserMode:rMode:ususerMode:eruserMode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:uuserMode:serMode:userMouserMouserMode:de:de:useruserMode:Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserMuserMode:odeuserMuseuserMode:rMode:ode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:uuserMode:serMode:3*rt->jguserMode:oal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeususerMode:erMode::useruserMode:MouserMouserMode:de:de:useruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuserMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:duserMode:e::uuserModuserMode:euserMode::seruserMode:Mode:useruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::userMode:useruseuserMode:rMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useruseruuserMode:seruserMode:ModuserMode:e:Mode:userMode:Mode:userModuserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:MuserMode:ode:userModeuserModuserMode:e:userMode::uuseuseruserMode:Mode:rModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:userMode:userModuserMode:e:userModeuseruserMode:Mode::uuserModeuserMode::seruserMode:Mode:userMode:userModeuseruserMode:ModuserMode:e::useuuserMode:serMode:rModuserMode:e:useruserMode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:useuuserMode:seuserMode:rMode:rModeuserMode:userMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMouserMode:de:ode:userMode:useuseruserMode:Mode:rMode:userMode:useruseruserMode:MouserMode:de:*rt->jgoal[2],userMode:useuserMode:rModeuseruserMode:ModuserMode:e::useruserMode:Mode:useruseuserMode:rMode:MuserMode:ode:userModeuseususerMode:erMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserModeuserMode::userMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userMode:userModuserMode:e:userMode:userModeuserMode::uuserMode:serMode:useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userModuserMouserMode:duserMode:e:e:useruserModeuserModeuserMode:::ModeuserModuserMode:e::userMode:userMode:userModeuserModeuserMode::userMode::uuserModeuserMode::serMode:useuserMode:ruseruuserMode:seuserMode:ruserMode:MouserMode:deuserMode::Mode:Mode:userMode:userMode:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:userMode:useuserMode:rMouserModuserMode:e:de:useruserMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeuserMode::rususerMode:erMode:ModeuserMode::ter_org.cpp:					userModeuserMode::userMode:	5userModeuserMode:userMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuserMode:ruserMode:Mode:userMode:useuserMode:ruserMode:MouserMode:deuserMuserMode:ouserMode:de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:Mode::rMode:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:uuserMode:serMode:userModeuserMuserMode:ode::useruserMode:Mode:useuserMode:rMode:userMode:useuserMode:rMode:userMouserMode:deuserMuuserMode:serMode:ode:userMode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouseuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 57userMode:.3*rt-userMode:useuserMode:ruserMode:MoususerMode:erModeuserMode::deuserMuserMode:ode::userModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserMode:userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:Mode::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useuserMuserMode:ode:ruserModeuserMode::Mode:userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inter_org.userMode:cpuuserMode:serModeuseruserMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->q[4]userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[userMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:Mode:t->q_des[3], userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::ususerMode:erMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode::Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:MouserMode:de:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseruserMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::pp:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::ModeuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fuseruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouserMode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouserMode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuserMode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouserMode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuserMode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuserMode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouserMode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuserMode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouserMode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruserMode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserMode:::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:ususerMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususerMode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuserMode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuserMode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruserMode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruserMode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuserMode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuserMode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuserMode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususerMode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouserMode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uuserMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuserMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:Mode:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rModuserMode:e:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModuserMode:euserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:oduserMode:e:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMouserMode:de:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruseruserMode:Mode:Mode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:userMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: 57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserMode:suserMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserMode:rMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserMode:serMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserMode:seuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:userMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserMode:de:					rt->x_desuseuseuserMode:rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserMode:de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserMode:e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerMode:erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerMode:euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerMode:erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:useruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruserModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:euserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userususerMode:eruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useuseuserMode:rMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserMode:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: rt-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:userMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userMuserMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruserModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouserMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMouserMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuserMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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57userMode:.3ususerMode:erMode:*rt-useruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuserMode:ruserMode:Mode:userMode:useuserMode:ruserMode:MouserMode:deuserMuserMode:ouserMode:de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:Mode::rMode:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:userMode:uuserMode:serMode:userModeuserMuserMode:ode::useruserMode:Mode:useuserMode:rMode:userMode:useuserMode:rMode:userMouserMode:deuserMuuserMode:serMode:ode:userMode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[1], 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ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::pp:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::ModeuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModeuseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt->tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouserMode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouserMode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuserMode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouserMode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuserMode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuserMode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouserMode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuserMode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouserMode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruserMode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuserMode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeuserMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserMode:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:userMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususerMode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuserMode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuserMode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruserMode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruserMode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuserMode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuserMode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuserMode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususerMode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uuseruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuseruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_org.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:ModuserMode:e:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rModuserMode:e:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModuserMode:euserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:oduserMode:e:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMouserMode:de:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruseruserMode:Mode:Mode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:ModeuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:userMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userMode:57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserMode:suserMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserMode:rMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserMode:serMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserMode:seuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:userMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userMode:e:ruserMode:Mode:userMode:userMode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserMode:de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserMode:de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserMode:e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerMode:erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerMode:euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerMode:erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruseruserMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruserMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::userMode:useruseruserMode:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:euserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userususerMode:eruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useuseuserMode:rMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserMode:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeuserMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: 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userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::ususerMode:erMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::userususerMode:erMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMode:ModeuserMode::userMode:useruseruserModuserMode:e:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode::Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:MouserMode:de:userModeuserMode::useruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseruserMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::pp:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::ModeuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserMode::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouserMode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouserMode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuserMode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouserMode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuserMode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuserMode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouserMode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuserMode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouserMode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruserMode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMode:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:rMode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:userMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususerMode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuserMode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuserMode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruserMode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruserMode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuserMode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuserMode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuserMode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:Mode:Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuseruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_orguserMode:.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:ModuserMode:e:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rModuserMode:e:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModuserMode:euserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:oduserMode:e:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMouserMode:de:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruseruserMode:Mode:Mode:Mode:orguserMode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserMode:e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMode:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerMode:erMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userMode:57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserMode:suserMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserMode:rMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserMode:serMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserMode:seuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:userMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userMode:e:ruserMode:Mode:,ruserMode:t->x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userMode:e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserMode:de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserMode:de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserMode:e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerMode:erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerMode:euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerMode:erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:Mode:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:userMode:ModeuserMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:euserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userususerMode:eruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:useuseuserMode:rMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserModuserMode:e:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], 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rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMouserMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuserMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:uuserMode:serMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMode:userMouserMode:de:userModuserMode:e:userMouserMode:deuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMouserMode:deuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeususerMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouserMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouserMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:	rt->duserMode:esiuserMouserMode:de:redForce[userModeuserMode::0],userMode: 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rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuserMode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:ususerMode:erMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouserMode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouserMode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuserMode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouserMode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuserMode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuserMode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouserMode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuserMode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouserMode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruserMode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuserMode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruserMode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:userMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususerMode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuserMode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuserMode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruserMode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruserMode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuserMode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuserMode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuserMode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruserMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuseruserMode:Mode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_orguserMode:.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:ModuserMode:e:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rModuserMode:e:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModuserMode:euserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:oduserMode:e:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMouserMode:de:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModuserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserMode:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserMode:de:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerMode:erMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userMode:57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserMode:suserMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserMode:rMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserMode:serMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserMode:seuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:userMode:e:MuserMode:ode:rMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userMode:e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userMode:e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserMode:de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserMode:de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserMode:e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerMode:erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerMode:euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMode::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:ode:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:userMode:ModeuseuserMode:rMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:euserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userususerMode:eruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:userMode:useuseuserMode:rMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserModuserMode:e:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruserModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userMuserMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouserMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMouserMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuserMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rModeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseruserMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::pp:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::ModeuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuserMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:ususerMode:erMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouserMode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouserMode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuserMode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouserMode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuserMode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuserMode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouserMode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuserMode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouserMode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruserMode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cpp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserMode::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userModeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuserMode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruserMode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:userMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususerMode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuserMode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuserMode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruserMode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruserMode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuserMode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-userMode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMode:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserMode:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuseruserMode:Mode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_orguserMode:.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:ModuserMode:e:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rModuserMode:e:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModuserMode:euserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:oduserMode:e:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMouserMode:de:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoal[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:e:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserMode:de:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerMode:erMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userMode:57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserMode:suserMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserMode:rMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserMode:serMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserMode:seuserModuserMode:e:ruserMode:userMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userMode:e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userMode:e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserMode:de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserMode:de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserMode:e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerMode:erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duseruserMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:userMode:ModeuseuserMode:rMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:euserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:uuserMode:serMode:userMode:userususerMode:eruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:userMode:useuseuserMode:rMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserModuserMode:e:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userMuserMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouserMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::userMuserMode:ode:userMode:useruseuserMode:ruserMouserMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuserMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:uuserMode:serMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:userMouserMode:deuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMouserMode:deuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeususerMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouserMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouserMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:	rt->duserMode:esiuserMouserMode:de:redForce[userModeuserMode::0],userMode: 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rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::ModeuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuserMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserMode:Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:ususerMode:erMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserModeuserMode::e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouserMode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouserMode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuserMode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouserMode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuserMode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuserMode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouserMode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuserMode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouserMode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruserMode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouserMode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:rMode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuserMode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuserMode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruserMode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:userMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususerMode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuserMode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuserMode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruserMode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruserMode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuserMode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:Mode:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususerMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuseruserMode:Mode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_orguserMode:.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:ModuserMode:e:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rModuserMode:e:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModuserMode:euserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:oduserMode:e:uuserMode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:Mode:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:userModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:e:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserMode:de:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerMode:erMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userMode:57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserMode:suserMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserMode:rMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserMode:serMode:useuserModuserMode:e:rModeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserMode:seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userMode:e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userMode:e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserMode:de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserMode:de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserMode:e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerMode:erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:userMode:ModeuseuserMode:rMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:euserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:uuserMode:serMode:userMode:userususerMode:eruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:userMode:useuseuserMode:rMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserModuserMode:e:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususerMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userMuserMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouserMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:MuserMode:ode:userMode:userModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouserMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuserMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rModeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseruserMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruseuserMode:rMode:MouserMode:de::useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::pp:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::ModeuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuserMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]userMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		userMode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:ususerMode:erMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userMouserMode:duserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserModeuserMode::e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouserMode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouserMode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuserMode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouserMode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuserMode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuserMode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouserMode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuserMode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouserMode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruserMode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruserMode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserMode:Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuserMode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuserMode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuserMode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruserMode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:userMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususerMode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuserMode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuserMode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruserMode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruserMode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuserMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userMode:timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuseruserMode:Mode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_orguserMode:.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:ModuserMode:e:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rModuserMode:e:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModuserMode:euserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:uuseruserMode:Mode:seruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususeruserMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:Mode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:e:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserMode:de:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerMode:erMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userMode:57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserMode:suserMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserMode:rMode:euserMode::useuserModuserMode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserMode:serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserMode:seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userMode:e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userMode:e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserMode:de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserMode:de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserMode:e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModeuserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:userMode:ModeuseuserMode:rMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:euserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:uuserMode:serMode:userMode:userususerMode:eruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:userMode:useuseuserMode:rMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserModuserMode:e:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeuserMode:rMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userMuserMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouserMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:userMode:MuserMode:ode:userMode:userModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouserMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuserMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:uuserMode:serMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:userMouserMode:deuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMouserMode:deuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeususerMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouserMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouseuserMode:rMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:	rt->duserMode:esiuserMouserMode:de:redForce[userMode:userModeuserMode::0],userMode: 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rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::ModeuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuserMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruserMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:ususerMode:erMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userMouserMode:duserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserModeuserMode::e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouserMode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouserMode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuserMode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouserMode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuserMode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuserMode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouserMode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuserMode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouserMode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruserMode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruserModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMode:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuserMode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuserMode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuserMode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuserMode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruserMode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:userMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususerMode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuserMode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuserMode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruserMode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserMode:ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserMode::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:useuserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserMode:rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userMode:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuseruserMode:Mode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_orguserMode:.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:ModuserMode:e:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rModuserMode:e:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModuserMode:euserMode::uuserMode:serMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::useruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:e:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserMode:de:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerMode:erMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userMode:57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserMode:suserMode:erMode:useuserModuserMouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserMode:rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserMode:serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserMode:seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userMode:e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userMode:e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserMode:de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserMode:de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserMode::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModeuserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMode:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:userMode:ModeuseuserMode:rMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:euserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:uuserMode:serMode:userMode:userususerMode:eruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:userMode:useuseuserMode:rMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserModuserMode:e:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MuserMode:ouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeuserMode:rMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userMuserMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuserMode:e:ode:useruserMode:ModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouserMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:userMode:MuserMode:ode:userMode:userModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouserMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuserMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseruserMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruseuserMode:rMode:MouserMode:de::useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:Mode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:Mode:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserMode::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::pp:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::ModeuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuserMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-useuseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:ususerMode:erMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userMouserMode:duserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserModeuserMode::e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouserMode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouserMode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuserMode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouserMode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuserMode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuserMode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouserMode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuserMode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruserMode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerMode:erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserMode:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erMode:useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuserMode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuserMode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuserMode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuserMode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuserMode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruserMode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:userMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususerMode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuserMode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuserMode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuserMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserMode:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:userMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserMode:rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuseruserMode:Mode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_orguserMode:.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:ModuserMode:e:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rModuserMode:e:userMode:uuserMode:serMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:e:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserMode:de:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerMode:erMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userMode:57.3*rt->jgouseruseruserModuserMode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserMode:suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserMode:rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserMode:serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserMode:seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userMode:e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userMode:e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserMode:de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserModeuserMode::de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserMode::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModeuserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:ModeuserMode::xuserMode:[userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:userMode:ModeuseuserMode:rMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::userMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:euserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:uuserMode:serMode:userMode:userususerMode:eruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:userMode:useuseuserMode:rMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserMode:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserModuserMode:e:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMouserMode:de:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MuserMode:ouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeuserMode:rMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuseuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userMode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserMode:seruseruserMode:Mode:Mode:ModuserMode:e:userMuserMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuuserMode:serMode:e:ode:useruserMode:ModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouserMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:userMode:MuserMode:ode:userMode:userModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouserMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuserMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:uuserMode:serMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:userMouserMode:deuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMouseuserMode:rMode:deuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeususerMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouseuserMode:rMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouseuserMode:rMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:	rt->duserMode:esiuserMouserMode:de:redForce[userMode:userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:erMode:userModuserMode:e:useruserModeuserMode::Mode:userModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:serususerMode:erMode:Mode:ususeuserMode:rMode:erMode:userMode:userususerMode:erMode:Mode:userMode:userModeuseruserMode:Mode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:uuserMode:serMode:useruserMode:userMode:Mode:userMouserMode:de:userMode:useruserMouserMode:de:Mode:userMode:ususeuserMode:rMode:erMode:useruserMode:MouserMode:de:userMode:userMode:ususerMode:euserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:uuserMode:serMouserMode:de:useruserMode:Mode:useruserMode:Mode:userMode:userMode:uuserMode:serMode:useruserModuseuserMode:rMode:e:Mode:ususerMode:erMode:userMouserMode:de:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserModuserMode:e::userMode:useuserModuserMode:e:rMode:useruserMode:Mode:useruserMode:Mode:userMode:userMode:userMode:uuserMode:suserMode:eruserMode:MuserMode:ode:ususerMode:erMode:userMode:userMouserMouserMouseruserMode:Mode:de:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userMouserMode:duserMode:ususerModeuserMode::erMode:e:userMode:useuserModuserMode:e:ruserMode:Mode:useruserMode:Mode:userMode:ususerMode:erMode:userMode:useruserMouserMode:de:Mode:userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:rususeuseruserMode:Mode:rMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMouserMode:de:serMode:ruserModuserMode:e:Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMuserMode:ode:ususerMode:erMode:useuserMode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModeuserMode::userMode:uuserMode:serModuserMode:e:rt->userModuserMode:e:forceuseuserMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:MuserMode:ode:ususerMode:euserMode:rMode:userMouserMode:de:useruserMode:Mode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModeuserMode::userMode:userMode:ususerMode:eruseuserMouserMode:de:rMode:Mode:useuserMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMuserMode:ouserMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userMode:userModeuserMode::userMode:uuserMode:serMuserMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuserMode:seruserMode:ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:uuserMode:serMode:useruseruserMode:Mode:Mode:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seususerMode:erMuserMode:ode:ruserMode:Mode:ususerModeuserMode::erMode:useruserMode:Mode:useruserMode:MouserMode:de:userMode:useruseruserMode:Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rMode:Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerModuseruserMode:ModuserMode:e:e:erMode:seruserMode:				rt-userMode:>force[useruserMode:Mode:1], 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57userMode:.3ususerMode:erMode:*rt-ususerMode:eruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:userMode:useuserMode:ruserMode:MouserMode:deuserMuserMode:ouserMode:de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:Mode::rMode:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userModeuserMuserMode:ode::useruserMode:MouserMode:de:useuserMode:rMode:userMode:useuserMode:rMode:userMouserMode:deuserMuuserMode:serMode:ode:userMode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[userMode:1], 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userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::ususerMode:erMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::userususerMode:erMode:ModeuserMode::uuserMode:serMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMode:ModeuserMode::userMode:useruseruserModuserMode:e:Mode:Mode:userModeususerMode:erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode::Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 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ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::pp:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuserMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruserMode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:ususerMode:erMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userMouserMode:duserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserModeuserMode::e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouserMode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouserMode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuserMode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouserMode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuserMode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuserMode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouserMode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruserMode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuserMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruserMouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserMode::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuserMode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuserMode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuserMode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuserMode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuserMode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruserMode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:userMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususerMode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuserMode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruserMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserMode:Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuserMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserMode:rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:de:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuseruserMode:Mode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_orguserMode:.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:ModuserMode:e:de:rMode:userMode:uuserMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:e:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserMode:de:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerMode:erMode::userMode:userMode:useuserModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userMode:57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserMode:suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserMode:rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserMode:serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserMode:seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userMode:e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userMode:e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserModeuserMode::de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserModeuserMode::de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserMode::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModeuserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:userMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserModuserMode:e:::uuserMode:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:ModeuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:userMode:ModeuseuserMode:rMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:euserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:uuserMode:serMode:userMode:userususerMode:eruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userModeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:userMode:useuseuserMode:rMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserModuserMode:e:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserModuserMode:e:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMouserMode:de:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MuserMode:ouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeuserMode:rMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuserMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuuserMode:seuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userMode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::userMode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserMode:e:userMuserMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuuserMode:serMode:e:ode:useruserMode:ModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouserMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:userMode:MuserMode:ode:userMode:userModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouserMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuserMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:uuserMode:serMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:userMouseuserMode:rMode:deuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMouseuserMode:rMode:deuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeususerMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouseuserMode:rMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouseuserMode:rMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:	rt->duserMode:esiuserMouserMode:de:redForce[userMode:userModeuserMode::0],userMode: 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57userMode:.3ususerMode:erMode:*rt-ususerMode:eruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:userMode:useuserMode:ruserMode:MouserMode:deuserMuserMode:ouserMode:de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:Mode::rMode:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userModeuserMuserMode:ode::useruserMode:MouserMode:de:useuserMode:rMode:userMode:useuserMode:rMode:userMouserMode:deuserMuuserMode:serMode:ode:userMode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[userMode:1], 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ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::pp:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuserMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:Mode:Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:ususerMode:erMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserModeuserMode::e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userMouserMode:duserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserModeuserMode::e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouserMode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouserMode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuserMode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouserMode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuserMode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuserMode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruserMode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:de:userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuserMode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuserMode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuserMode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuserMode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuserMode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruserMode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:userMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususerMode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =userMode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModeuuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuserMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:useruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserMode:rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuseruserMode:Mode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_orguserMode:.cuseruserMode:Mode:userMode:puserMode:p:			//			rt->xus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rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:e:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserMode:de:ModeuserMode:userMode::userMode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerMode:erMode::userMode:userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userMode:57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserMode:suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserMode:rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserMode:serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserMode:seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userMode:e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserModeuserMode::de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserModeuserMode::de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserMode::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModeuserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:Mode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserModuserMode:e:euserMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserModuserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:ModeuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:userMode:ModeuseuserMode:rMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:euserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:uuserMode:serMode:userMode:userususerMode:eruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMuserMode:odeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:userMode:useuseuserMode:rMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserModuserMode:e:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserModuserMode:e:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMouserMode:de:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MuserMode:ouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeuserMode:rMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuuserMode:seuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userMode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruseuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::useruserMode:Mode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserMode:e:userMuserMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuuserMode:serMode:e:ode:useruserMode:ModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouserMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:userMode:MuserMode:ode:userMode:userModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouserMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuseuserMode:rMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:uuserMode:serMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:userMouseuserMode:rMode:deuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMouseuserMode:rMode:deuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeususerMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouseuserMode:rMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouseuserMode:rMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:	rt->duserMode:esiuserMouserMode:de:redForce[userMode:userModeuserMode::0],userMode: 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ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::pp:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuserMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->useruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:ususerMode:erMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserModeuserMode::e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userMouserMode:duserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserModeuserMode::e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouserMode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouserMode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuserMode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouserMode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuserMode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruserMode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserMode::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserMode:serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuserMode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuserMode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuserMode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuserMode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuserMode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruserMode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:userMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususerMode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timeuserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserMode:Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:userModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMode:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserMode:rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouserMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuseruserMode:Mode:rMode:userMode:userMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_orguserMode:.cuseruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:useuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:e:rMode:userMode:userModeuserMode:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserMode:de:ModeuserMode:userMode::userMuserMode:ode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerMode:erMode::userMode:userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userMode:57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserMode:suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserMode:rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserMode:serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserMode:seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserMode:userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserModeuserMode::de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserModeuserMode::de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserMode::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModeuserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:Mode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeususerMode:erMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:ModuserMode:e:e:userModeuserMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserModuserMode:e:euserMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserModuserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:ModeuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:userMode:ModeuseuserMode:rMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:euserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:uuserMode:serMode:userMode:userususerMode:eruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMuserMode:odeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:userMode:useuseuserMode:rMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserModuserMode:e:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserModuserMode:e:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMouserMode:de:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MuserMode:ouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeuserMode:rMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseuserMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMuserMode:ode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuuserMode:seuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userMode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMode:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::useruserMode:Mode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserMode:e:userMuserMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuuserMode:serMode:e:ode:useruserMode:ModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouserMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:userMode:MuserMode:ode:userMode:userModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:rMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuseuserMode:rMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:uuserMode:serMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:userMouseuserMode:rMode:deuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMouseuserMode:rMode:deuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeususerMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouseuserMode:rMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouseuserMode:rMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:	rt->duserMode:esiuserMouserMode:de:redForce[useruserMode:Mode:userModeuserMode::0],userMode: 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ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::pp:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuserMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::Mode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuserMode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			userMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:ususerMode:erMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserModeuserMode::e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userMouserMode:duserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserModeuserMode::e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouserMode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouserMode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuserMode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouserMode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruserMode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserMode:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euserMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuserMode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:Mode:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:userMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuserMode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuserMode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuserMode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuserMode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuserMode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruserMode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:userMode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:de:euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruuserMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususerMode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserMode:rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouseuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuseruserMode:Mode:rMode:userMode:ususerMode:erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_orguserMode:.cuseruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMode:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouserMode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMode:.3*ruserMode:t-userMode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:e:rMode:userMode:userModeuserMouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserMode:de:ModeuserMode:userMode::userMuserMode:ode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerMode:erMode::userMode:userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userMode:57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserMode:suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserMode:rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserMode:serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserMode:seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserModeuserMode::de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserModeuserMode::de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserMode::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModeuserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuserMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeususerMode:erMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserModuserMode:euserMode:de:ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:ModuserMode:e:e:userModeuserMode:userMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserModuserMode:e:euserMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserModuserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:ModeuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:userMode:ModeuseuserMode:rMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:euserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:uuserMode:serMode:userMode:userususerMode:eruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMuserMode:odeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:userMode:useuseuserMode:rMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserModuserMode:e:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserModuserMode:e:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], 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5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseruserMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:MouserMode:de::useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:MuserMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: rt-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::pp:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuserMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userMode:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userModuseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:ususerMode:erMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserModeuserMode::e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userMouserMode:duserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserModeuserMode::e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouserMode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouserMode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuserMode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouserMode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruserMode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMode::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeuserMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuserMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuserMode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruserMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuserMode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuserMode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuserMode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuserMode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuserMode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruserMode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rt->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:de:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:userMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususerMode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuserMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserMode:rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouseruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouuserMode:seuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuserMode:rMode:userMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuseruserMode:Mode:rMode:userMode:ususerMode:erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_orguserMode:.cuseruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ode:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpp:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::useuserMode:ruserMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMode:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:e:rMode:userMode:userModeuserMouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserMode:de:ModeuserMode:userMode::userMuserMode:ode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerMode:erMode::userMode:userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userMode:57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserMode:suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserMode:rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserMode:serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserModeuserMode::de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserModeuserMode::de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserMode::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:Mode:de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModeuserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModeuserMode::de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeususerMode:erMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserMode:seuserMode:ruserMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserModuserMode:euserMode:deuserMode::ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:ModuserMode:e:e:userModeuserMode:userMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserModuserMode:e:euserMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserModuserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:ModeuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:userMode:ModeuseuserMode:rMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMuserMode:ode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:euserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:uuserMode:serMode:userMode:userususerMode:eruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMuserMode:odeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:userMode:useuseuserMode:rMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserModuserMode:e:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserModuserMode:e:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMouserMode:de:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MuserMode:ouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserModeuserMode::seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeuserMode:rMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseususerMode:erMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMuserMode:ode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuuserMode:seuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userMode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMode:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMouserMode:de:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::useruserMode:Mode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserMode:e:userMuserMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuuserMode:serMode:e:ode:useruserMode:ModuserMode:euserMouserMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouseuserMode:rMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:userMode:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:rMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuseuserMode:rMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseruserMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:MouserMode:de::useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:MuserMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puserMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuserMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:Mode:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userMode:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:ususerMode:erMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserModeuserMode::e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserModeuserMode::e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userMouserMode:duserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserModeuserMode::e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouserMode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouserMode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuserMode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruserMode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuserMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuserMode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:serModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuserMode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuserMode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuserMode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuserMode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuserMode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruserMode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:de:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMode:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususerMode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuserMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserMode:rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruserMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouuserMode:seuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuseruserMode:Mode:rMode:userMode:ususerMode:erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_orguserMode:.cuseruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::Mode:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:userMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruserModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMode:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:e:rMode:userMode:userModeuserMouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserMode:de:ModeuserMode:userMode::userMuserMode:ode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerMode:erMode::userMode:userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userMode:57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserMode:suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserMode:rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserModeuserMode::de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserModeuserMode::de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruserMode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserMode::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModeuserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModeuserMode::de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeususerMode:erMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:useuserMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserMode:seuserMode:ruserMode:userMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserModuserMode:euserMode:deuserMode::ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:ModuserMode:e:e:userModeuserMode:userMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserModuserMode:e:euserMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserModuserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:ModeuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruseruserMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:userMode:ModeuseuserMode:rMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususerMode:erMode:userMode:useuserMode:rMode:userModeuserMode::userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuuserMode:serMode:rModuserMode:e:userMuserMode:ode:userMouserMode:de:userMode:useuserMode:rMuserMode:ode:ususerMode:erMode:userMode:userModeuserMode::userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:Mode:useuserMode:rMuserMode:ode:useuserMode:rMode:userMouseuserMode:rMode:de:userMuserMode:ode:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userModuserMode:e:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:useususerMode:erMode:rMode:userMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMode:erModeuserMode::userMode:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:useruseruserModuserMode:euserMode::MouserMode:de:Mode:userMode:userMode:userMode:useuserMode:rModuserMouserMode:de:e:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMouserMode:de:userMuserMode:ode:ususerMouserMode:de:erMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:uuserMode:serMode:userMode:userususerMode:eruserMode:MouserMode:deuserMode::Mode:userMode:userMode:userMode:useruserMode:ModuserMode:e:userMuserMode:ode:userMode:useuserMouserMode:de:rMode:userMode:userMouserMode:de:userMuserMode:odeuserMode::ususerMode:erModuserMode:e:userMode:userMode:userMode:ususerMode:erMode:uuserMode:serMode:userMode:useuseuserMode:rMode:ruseruserMode:MouserMode:de:Mode:useruserMode:Mode:useruserMode:userMode:ModuserModuserMode:e:e:useruserMode:Mode:userMode:useuserMode:ruserMode:Mode:userususerMode:euserModuserMode:e:ruserMode:Mode:Mode:ususerMode:eruserMode:Mode:useruserMode:Mode:ususerMode:euserModuserMode:e:ruserMode:Mode:userususerMode:erMode:ModeuserMode::uuserMode:seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMouserMode:de:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserModeuserMode::de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MuserMode:ouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserModeuserMode::seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeuserMode:rMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseususerMode:erMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMuserMode:ode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuuserMode:seuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userMode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMouserMode:de:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMouserMode:de:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::useruserMode:Mode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserMode:e:userMuserMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuuserMode:serMode:e:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouseuserMode:rMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:userMode:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:rMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuseuserMode:rMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseruserMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:MouserMode:de::useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:MuserMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puserMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuserMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModeuserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rt->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:ususerMode:erMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserModeuserMode::e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserModeuserMode::e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userMouserMode:duserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserModeuserMode::e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouserMode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouserMode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuserMode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruserMode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuserMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeususerMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuserMode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuserMode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuserMode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuserMode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuserMode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuserMode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6userMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususerMode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuserMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserMode:rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruserMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouuserMode:seuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:useuserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuseruserMode:Mode:rMode:userMode:ususerMode:erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_orguserMode:.cuseruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeuserMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:ususerMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuserMode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMode:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:e:rMode:userMode:userModeuserMouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserMode:de:ModeuserMode:userMode::userMuserMode:ode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerMode:erMode::userMode:userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userMode:57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserMode:suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserModeuserMode::de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruserMode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserModeuserMode::de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruseruserMode:Mode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserMode::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModeuserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModeuserMode::de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeususerMode:erMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserMode:seuserMode:ruserMode:userMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserModuserMode:euserMode:deuserMode::ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:ModuserMode:e:e:userModeuserMode:userMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserModuserMode:e:euserMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserModuserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:ModeuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:userMode:ModeuseuserMode:rMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMouserMode:de:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserModeuserMode::de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MuserMode:ouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserModeuserMode::seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeuserMode:rMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseususerMode:erMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMuserMode:ode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuuserMode:seuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userMode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMouserMode:de:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMouserMode:de:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::useruserMode:Mode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserMode:e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuuserMode:serMode:e:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouseuserMode:rMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:userMode:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:rMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuseuserMode:rMode:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:uuserMode:serMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeususerMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:	rt->duserMode:esiuserMouserMode:de:redForce[useruserMode:Mode:userModeuserMode::0],userMode: 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57userMode:.3ususerMode:erMode:*rt-ususerMode:eruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserMode:serMode:useuserMode:ruserMode:MouserMode:deuserMuserMode:ouserMode:de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:Mode::rMode:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userModeuserMuserMode:ode::useruserMode:MouserMode:de:useuserMode:rMode:uuserMode:serMode:useuserMode:rMode:userMouserMode:deuserMuuserMode:serMode:ode:userMode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[userMode:1], 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57.useruserMode:Mode:3*rt->duserMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puserMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuserMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruserMode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:userMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i] - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rtuserMode:->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:ususerMode:erMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserModeuserMode::e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserModeuserMode::e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userMouserMode:duserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserModeuserMode::e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouserMode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouserMode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruserMode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useuserModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserMode:erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuserMode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMode:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususerMode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuserMode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuserMode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuserMode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuserMode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserMode:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususerMode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->time is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserMode:rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouuserMode:seuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuseruserMode:Mode:rMode:userMode:ususerMode:erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_orguserMode:.cuseruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuserMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:ususerMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:Mode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMuserMode:ode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuserMode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMode:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:e:rMode:userMode:userModeuserMouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserMode:de:ModeuserMode:userMode::userMuserMode:ode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerMode:erMode::userMode:userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userMode:57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:userMuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserModeuserMode::de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserModeuserMode::de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruseruserMode:Mode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserMode::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModeuserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModeuserMode::de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeususerMode:erMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMode:useuserMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:userMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserMode:seuserMode:ruserMode:userMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserModuserMode:euserMode:deuserMode::ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:ModuserMode:e:e:userModeuserMode:userMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserModuserMode:e:euserMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserModuserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:userMode:ModeuseuserMode:rMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMuserMode:ode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMouserMode:de:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserModeuserMode::de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MuserMode:ouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserModeuserMode::seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeuserMode:rMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseususerMode:erMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMuserMode:ode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMuserMode:ode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuuserMode:seuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userMode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMouserMode:de:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMouserMode:de:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:				rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::useruserMode:Mode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserMode:e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuuserMode:serMode:e:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouseuserMode:rMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:userMode:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:rMode:de:Mode:Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:uuserMode:serMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeususerMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:	rt->duserMode:esiuserMouserMode:de:redForce[useruserMode:Mode:userModeuserMode::0],userMode: 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57userMode:.3ususerMode:erMode:*rt-ususerMode:eruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserMode:serMode:useuserMode:ruserMode:MouserMode:deuserMuserMode:ouserMode:de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:Mode::rMode:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userModeuserMuserMode:ode::useruserMode:MouserMode:de:useuserMode:rMuserMode:ode:uuserMode:serMode:useuserMode:rMode:userMouserMode:deuserMuuserMode:serMode:ode:userMode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[userMode:1], 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ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puserMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuserMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuserMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModeuseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuserMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMode:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:uuserMode:seuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rtuserMode:->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:ususerMode:erMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserModeuserMode::e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserModeuserMode::e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userMouserMode:duserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserModeuserMode::e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouserMode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouserMode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruserMode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruserMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMode:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuserMode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususerMode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuserMode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuserMode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuserMode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserMode:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euserMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususerMode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMode:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserMode:rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouuserMode:seuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuseruserMode:Mode:rMode:userMode:ususerMode:erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_orguserMode:.cuseruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:Mode:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuseuserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMode:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:ususerMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:ode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMuserMode:ode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuserMode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMode:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:e:rMode:userMode:userModeuserMouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserMode:de:ModeuserMode:userMode::userMuserMode:ode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerMode:erMode::userMode:userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userModeuserMode::57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMode:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserModeuserMode::de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserModeuserMode::de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruseruserMode:Mode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserMode::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModeuserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModeuserMode::de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeususerMode:erMode::,uuserMode:serMode:userMode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMode:useuuserMode:serMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:userMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserMode:seuserMode:ruserMode:userMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserModuserMode:euserMode:deuserMode::ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:ModuserMode:e:e:userModeuserMode:userMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserModuserMode:e:euserMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:userMode:ModeuseuserMode:rMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMuserMode:ode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMouserMode:de:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserModeuserMode::de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MuserMode:ouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserModeuserMode::seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeuserMode:rMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseususerMode:erMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMuserMode:ode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMuserMode:ode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMuserMode:ode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuuserMode:seuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userMode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMouserMode:de:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMouserMode:de:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruserMode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::useruserMode:Mode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserMode:e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuuserMode:serMode:e:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouseuserMode:rMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:userMode:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:rMode:de:ModeuserMode::Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:uuserMode:serMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeususerMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:	rt->duserMode:esuserMode:iuserMouserMode:de:redForce[useruserMode:Mode:userModeuserMode::0],userMode: 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57userMode:.3ususerMode:erMode:*rt-ususerMode:eruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuseruserMode:Mode:serMode:useuserMode:ruserMode:MouserMode:deuserMuserMode:ouserMode:de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:Mode::rMode:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userModeuserMuserMode:ode::useruserMode:MouserMode:de:useuserMode:rMuserMode:ode:uuserMode:serMode:useuserMode:rMode:userMouserMode:deuserMuuserMode:serMode:ode:userMode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[userMode:1], 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ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puserMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuserMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:Mode:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] = useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModeuserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserModeuserMode::Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:uuserMode:seuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rtuserMode:->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:ususerMode:erMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserModeuserMode::e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserModeuserMode::e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserModeuserMode::e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userMouserMode:duserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserModeuserMode::e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouserMode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruserMode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserMode:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuserMode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModuserMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:erModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususerMode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuserMode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuserMode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userMode:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserMode:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususerMode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:userMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rMode:erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserMode:rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouuserMode:seuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMode:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuseruserMode:Mode:rMode:userMode:ususerMode:erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_orguserMode:.cuseruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuserMouseruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:MouserMode:de:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuseuserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:e:eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:ususerMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserMode:ode:useruserMode:Mode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:ode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMuserMode:ode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuserMode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMode:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:e:rMode:userMode:userModeuserMouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserMode:de:ModeuserMode:userMode::userMuserMode:ode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerModeuserMode::erMode::userMode:userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userModeuserMode::57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userMode:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserModeuserMode::de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserModeuserMode::de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruseruserMode:Mode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserMode::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModeuserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModeuserMode::de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euserMode:rModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeususerMode:erMode::,uuserMode:serMode:useruserMode:Mode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMode:useuuserMode:serMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:userMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserMode:seuserMode:ruserMode:userMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserModuserMode:euserMode:deuserMode::ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:ModuserMode:e:e:userModeuserMode:userMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserMuserMode:oduserMode:e:euserMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:userMode:ModeuseuserMode:rMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMuserMode:ode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMouserMode:de:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserModeuserMode::de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MuserMode:ouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserModeuserMode::seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:ususeuserMode:rMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseususerMode:erMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMuserMode:ode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMuserMode:ode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMuserMode:ode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMuserMode:ode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuuserMode:seuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userMode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMouserMode:de:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMouserMode:de:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMouserMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruseruserMode:Mode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::useruserMode:Mode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserMode:e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuuserMode:serMode:e:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouseuserMode:rMode:de:Mode:orce[1],userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:userMode:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:rMode:de:ModeuserMode::Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:uuserMode:serMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeususerMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userMode:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:deuserMode::userMode:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:	rt->duserMode:esuserMode:iuserMouserMode:de:redForce[useruserMode:Mode:userModeuserMode::0],userMode: 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57userMode:.3ususerMode:erMode:*rt-ususerMode:eruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuseruserMode:Mode:serMode:useuserMode:ruserMode:MouserMode:deuserMuserMode:ouserMode:de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:Mode::rMode:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userModeuserMuserMode:ode::useruserMode:MouserMode:de:useuserMode:rMuserMode:ode:uuserMode:serMode:useuserMode:rMode:userMouserMode:deuserMuuserMode:serMode:ode:userMode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[userMode:1], 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ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puserMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuserMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruserMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruserMode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:ususerMode:eruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:ruserMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserMode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeususerMode:erModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserModeuserMode::Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:uuserMode:seuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rtuserMode:->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:ususerMode:erMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:userMode: ruserMode:t->q[userMode:i]useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserModeuserMode::e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserModeuserMode::e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:userModuserModeuserMode::e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMouserMode:de:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMode:userMouserMode:duserMode:e:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:erModuserModeuserMode::e:useruserMode:ModeuseruserMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:useruserMode:MouserMode:deuseuserMode:ruserMode:Mode::userMode:userMode:userModuserMode:e:ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userMode:userMode:ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::ususeruserMode:Mode:erMode:userMode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:userMouserMode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruserMode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruserMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuserMode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuserMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuserMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususerMode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuserMode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userMode:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:userMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususerMode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:useruserMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMouserMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserMode:rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouuserMode:seuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuseruserMode:Mode:rMode:userMode:ususerMode:erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:printeruserMode:_orguserMode:.cuseruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouseruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:MouserMode:de:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuseuserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuseruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:ususerMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserMode:ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:ode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMuserMode:ode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuserMode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMode:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:e:rMode:userMode:userModeuserMouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:ModeuserMode:userMode::userMuserMode:ode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerModeuserMode::erMode::userMode:userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userModeuserMode::57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::userMouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserModeuserMode::de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserModeuserMode::de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruseruserMode:Mode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserMode::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModeuserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModeuserMode::de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:rMode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euserMode:ruserMode:ModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeususerMode:erMode::,uuserMode:serMode:useruserMode:Mode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMode:useuuserMode:serMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:userMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserMode:seuserMode:ruserMode:userMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserModuserMode:euserMode:deuserMode::ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuserMode:oduserMode:e:e:userModeuserMode:userMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserMuserMode:oduserMode:e:euserMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:userMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:userMode:ModeuseuserMode:rMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMuserMode:ode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMouserMode:de:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserModeuserMode::de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:MuserMode:ouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserModeuserMode::seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:userMode:Mode:ususeuserMode:rMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseususerMode:erMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMuserMode:ode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMuserMode:ode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMuserMode:ode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMuserMode:ode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuuserMode:seuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userMode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMouserMode:de:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:erMode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMouserMode:de:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruseruserMode:Mode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::useruserMode:Mode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserMode:e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuuserMode:serMode:e:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:rMode:userModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouseuserMode:rMode:de:Mode:orce[1],userMode:userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:userMode:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:rMode:de:ModeuserMode::Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:uuserMode:serMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeususerMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode::userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:deuserMode::userMode:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:	rt->duserMode:esuserMode:iuserMouserMode:de:redForce[useruserMode:Mode:userModeuserMode::0],userMode: 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ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puserMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuserMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuserMode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:ususerMode:eruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:Mode:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserModuserMode:e::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeususerMode:erModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserModeuserMode::Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:uuserMode:seuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rtuserMode:->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:ususerMode:erMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruserMode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuserMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuserMode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserMode:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorqueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususerMode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rMode:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userMode:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:userMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususerMode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMode:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMode:Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususerMode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserMode:rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouuserMode:seuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserMode:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuseruserMode:Mode:rMode:userMode:ususerMode:erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuseruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouseruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:MouserMode:de:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuseuserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:ususerMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useuserMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserMode:ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:ode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMuserMode:ode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuserMode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMode:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:ModeuserMode:userMode::userMuserMode:ode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerModeuserMode::erMode::userMode:userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userModeuserMode::57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserModeuserMode::de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserModeuserMode::de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruseruserMode:Mode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserMode::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModeuserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModeuserMode::de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euserMode:ruserMode:ModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeususerMode:erMode::,uuserMode:serMode:useruserMode:Mode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMode:useuuserMode:serMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:userMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserMode:seuserMode:ruserMode:userMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:deuserMode::ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuserMode:oduserMode:e:e:userModeuserMode:userMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserMuserMode:oduserMode:e:euserMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModuserMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:userMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:userMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:userMode:ModeuseuserMode:rMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMuserMode:ode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMouserMode:de:erMode:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserModeuserMode::de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:userMode:MuserMode:ouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserModeuserMode::seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:userMode:Mode:ususeuserMode:rMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseususerMode:erMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMuserMode:ode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMuserMode:ode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMuserMode:ode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMuserMode:ode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuuserMode:seuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userMode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMouserMode:de:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMouserMode:de:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruseruserMode:Mode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::useruserMode:Mode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserMode:e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMode:userModeuserModuserMode:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuuserMode:serMode:e:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:rMode:useuserMode:rModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouseuserMode:rMode:de:Mode:orce[1],userMode:userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:userMode:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:rMode:de:ModeuserMode::Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:uuserMode:serMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususerMode:euseruserMode:Mode:rMode:deuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeususerMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode::userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:deuserMode::userMode:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:	rt->duserMode:esuserMode:iuserMouserMode:de:redForce[useruserMode:Mode:userModeuserMode::0],userMode: 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rt->fuserususerMode:erMode:Mode:orce[2]userMode:)userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useuserMode:ruserModeuserMode::Mode:userModeuserMode::userMode:uuserMode:seruserMode:Mode:useuserMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:useuserMode:rModeuseruserModuserMode:e:Mode::userMode:useruserMode:MuserMode:ode:userModeuseruserMode:Mode::userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuserMode:rMode:ModeuserMode::userModeuseuseruserMode:Mode:rMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuserMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:Mode:serMode:Mode:MouserMode:duserMode:userMode:e:userModeuserModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouserModeuserMode::de::uuserMode:serMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode:userMode::uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:userusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuserMode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::userMode:ode: 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57.useruserMode:Mode:3*rt->duserMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puserMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuserMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserMode::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtime = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserMode::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:ususerMode:eruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModeuserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseruserMode:ModeuserMode:::Mode:Mode:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::uuserMode:serMode:useuseuserMode:rMode:rMode:userModeuserModeuseruserMode:Mode:::useruserModeuserModuserMode:e::Mode:userMouserMode:deuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeususerMode:erModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:ruserMode:ModeuserModeuseruserModeuserMode::Mode:::userMouserMode:de:useuserMode:rMode:userModeuserModeuseruserMode:Mode:::userMode:uuserMode:seuserMode:rMouserMode:de:useruseruserModeuseruserMode:Mode::Mode:Mode:.cpuserMode:p:			rtuserMode:->a0[i]userModuserMode:euseruserMode:Mode::userMode:useruserMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModeuseruserMode:Mode::ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userModeuseruserMode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:userMode:userModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:userMode:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuserMode:euseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruserModuserMode:e:Mode:userModuserMode:e:userModeuseruserMode:Mode::userMode:useruseuserMode:rMode:Mode:ususerMode:erMode:userModeuseruserMode:ModeuserMode:::userMode:useruserMode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruserMode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:e 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:erMode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuserMode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserMode:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuserMode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMode:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquserMode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususerMode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuserMode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:userModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususerMode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rMode:Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususerMode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserMode:rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouuserMode:seuserMode:rMode:de:userMode:userMode:userMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerMode:erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuseruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouseruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:MouserMode:de:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuseuserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::userModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:ususerMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauserModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserMode:ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:ode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMuserMode:ode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuserMode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:ModeuserMode:userMode::userMuserMode:ode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerModeuserMode::erMode::userMode:userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userModeuserMode::57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserModeuserMode::de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserModeuserMode::de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruseruserMode:Mode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserMode::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModeuserMode::de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euserMode:ruserMode:ModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeususerMode:erMode::,uuserMode:serMode:useruserMode:Mode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMode:useuuserMode:serMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:userMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:Mode:useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserModuserMode:e:seuserMode:ruserMode:userMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:deuserMode::ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuserMode:oduserMode:e:e:userModeuserMode:userMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserMuserMode:oduserMode:e:euserMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMode::userMode:userMode:useuserMode:rMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuserMode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:euserMode::userMode:userMuserModususerMode:erMode:e:ode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserMode::userMode:usususerModeuseruserMode:Mode::erMode:erMode:userMuserMode:userMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:userMode:uuserMode:serModuserMode:e:userMode:userMode:useuserMuserMode:ode:rMode:userMode:useuserMode:rMouserMode:de:useruserMode:ModuserMode:e:ususerMode:erMuserMode:userMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModuuserMode:serMode:e:userMode:useuserMode:rMode:useuserMode:rMode:userMode:userMouserModuserMode:e:de:userModuserMode:e:ususeuserMode:rMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:Mode:Mode:userMouserMode:de:uuserModuserMode:e:serMode:useuserMode:rMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:ususerMode:erMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserususerMode:erMode:userMode:ModeuseuserMode:rMode::Mode:uuserMode:serMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:rMode:useruserMode:Mode:userMouserModeuserMode::duserMode:e:userMode:ususerModuserMuserMode:ode:e:erMode:userMode:userMode:userMode:userMode:userModeuseruserModeuserMode::Mode::uuserMode:serMode:useruseruserModuserMode:e:MouserMode:de:Mode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMouserMode:de:erModuserMode:e:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserModeuserMode::de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:userMode:MuserMode:ouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserModeuserMode::seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:userMode:Mode:ususeuserMode:rMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseususerMode:erMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMuserMode:ode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMuserMode:ode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMuserMode:ode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMuserMode:ode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuuserMode:seuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMouserMode:de:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userMode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMouserMode:de:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMouserMode:de:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruseruserMode:Mode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::useruserMode:Mode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuserMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserMode:e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMode:userModeuserModuserMouserMode:de:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuuserMode:serMode:e:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:rMode:useuserMode:rModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouseuserMode:rMode:de:Mode:orce[1],userMode:userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:userMode:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:rMode:de:ModeuserMode::Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserMode:nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:uuserMode:serMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:userMouseuseruserMode:ModeuserMode::rMode:deuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususerMode:euseruserMode:Mode:rMode:deuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeususerMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode::userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:deuserMode::userMode:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:	rt->duserMode:esuserMode:iuserMouserMode:de:redForce[useruserMode:Mode:userModeuserMode::0],userMode: 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5userMode:7.3*userMode:rt->dq[2],userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:MouserMode:de::useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:MuserMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[useuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puserMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMode:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuserMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModeuserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruserMode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuserMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruserMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:ususerMode:erMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:ususerMode:eruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:userModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruserMode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruserMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuserMode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuserMode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquserMode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususerMode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruserMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:userMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euserMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:userMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serMode:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:useuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususerMode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserMode:rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuserMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerMode:erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuseruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouseruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:MouserMode:de:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuseuserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userusususeruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:ususerMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserMode:ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:ode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMuserMode:ode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuserMode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:ModeuserMode:userMode::userMuserMode:ode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerModeuserMode::erMode::userMode:userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userModeuserMode::57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMuserMode:ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserModeuserMode::de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserModeuserMode::de:serMode:userMode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruseruserMode:Mode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModeuserMode::de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:rMode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euserMode:ruserMode:ModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeususerMode:erMode::,uuserMode:serMode:useruserMode:Mode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMode:useuuserMode:serMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:userMode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserModuserMode:e:seuserMode:ruserMode:userMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:deuserMode::ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuserMode:oduserMode:e:e:userModeuserMode:userMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserMuserMode:oduserMode:e:euserMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:serMode:ModuserMode:e:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			//			userModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMouserMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMouserMode:de:erModuserMode:e:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserModeuserMode::de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:userMode:MuserMode:ouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserModeuserMode::seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:userMode:Mode:ususeuserMode:rMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseususerMode:erMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMuserMode:ode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMuserMuserMode:ode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMuserMode:ode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMuserMode:ode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userModeuserMode::useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuuserMode:seuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMouserMode:de:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userMode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMouserMode:de:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMouserMode:de:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruseruserMode:Mode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::useruserMode:Mode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuuserMode:serMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserMode:e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMode:userModeuserModuserMouserMode:de:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuuserMode:serMode:e:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:rMode:useuserMode:rModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouseuserMode:rMode:de:Mode:orce[1],userMode:userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:userMode:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:rMode:de:ModeuserMode::Mode:uuserMode:seuserMode:rMode:useruserMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:uuserMode:serMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:userMouseuseruserMode:ModeuserMode::rMode:deuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususerMode:euseruserMode:Mode:rMode:deuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeususerMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode::userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:deuserMode::userMode:userMouseuseruserMode:Mode:rMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:	rt->duserMode:esuserMode:iuserMouserMode:de:redForce[useruserMode:Mode:userModeuserMode::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:erMode:userModuserMode:e:useruserModeuserMode::Mode:userModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:uuserMode:serususerMode:erModeuserMode::Mode:ususeuserMode:rMode:erModeuserMode::userMode:userususerMode:erMode:Mode:useruserMode:Mode:userModeuseruserMode:Mode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:useuseruserMode:MouserModeuserMode::de:rMode:uuserMode:serMode:useruserMode:userMode:Mode:userMouserMode:de:userMode:useruserMoususerMode:erMode:de:Mode:userMode:ususeuserMode:rMouserMode:de:erMode:useruserMode:MouserMode:de:userMode:useruserMode:Mode:ususerMode:euserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:userMode:userMode:useruseuserMode:rMode:ModuserMode:e:userModeuserMode::useuserMode:rMode:uuserMode:serMouserMode:de:useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serMode:useruserModuseuserMode:rMouserMode:de:e:Mode:ususerMode:erMode:userMouserMode:de:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:ModuserMode:userMode:e:userModeuserModuserMode:e::userMode:useuserModuserMode:e:rMode:useruserMode:Mode:useruserMode:Mode:useuserMode:rMode:userMode:userMode:uuserMode:suserMode:eruserMode:MuserMode:odeuserMode::ususerMode:erMode:userMode:userMouserMouserMouseruserMode:Mode:de:de:de:useruserMode:ModeuserMode::userMode:userMuserMode:ode:userMode:useruserMode:Mode:userMouserMode:duserMode:ususerModeuserMode::erMode:e:userMode:useuserModuserMode:e:ruserMode:Mode:useruserMode:Mode:useuserMode:rMode:ususerMode:erMode:userMode:useruserMouserMode:de:Mode:userMuserMode:odeuserMode::ususerMode:erMode:userMode:useuserMode:rususeuseruserMode:Mode:rMode:erMode:Mode:userModeuserMode::userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:e:userModeuserMode::userModuserMode:e:userMode:useuuserMouserMode:de:serMode:ruserModuserMode:euserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:userMuserMode:odeuserMode::ususerMode:erMode:useuserMode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuserMode:euserMode::userMode:uuserMode:serModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:useruserMode:Mode:userMode:userMode:userMode:userMode:uuserMode:seruserMode:MuserMode:odeuserMode::ususerMode:euserMode:rMode:userMouserMode:de:useruserMode:Mode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuserMode:userMode:e:uuserMode:serModeuserMode::userMode:userMode:ususerMode:eruseuserMouserMode:de:rMode:Mode:useuserMode:userMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMuserMode:oususerMode:erMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userMode:userModeuserMode::userMode:uuserMode:serMususerMode:erMode:oduserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:userMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuserMode:seruserMode:ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:uuserMode:serMode:useruseruserMode:Mode:ModuserMode:e:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:userMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seususerMode:erMuserMode:ode:ruserMode:Mode:ususerModeuserMode::erMode:useruserMode:Mode:useruserMode:MouserMode:de:userMode:useruseruserModeuserMode::Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rModeuserMode::Mode:useuserMode:rMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:uususerModuseruserMode:ModuserMode:e:e:erMode:seruserMode:				rt-userMode:>force[useruserMode:Mode:1], rt->fuserususerMode:erMode:Mode:orce[2]userMode:)userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useuserMode:ruserModeuserMode::Mode:userModeuserMode::userMode:uuserMode:seruserModuserMode:e:Mode:useuserMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::userMode:useruserMuserMode:ode:ModuserMode:e:useuserMode:rModeuseruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:ode:userModeuseruserMode:Mode::userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuserMode:rMode:ModeuserMode::userModeuseuseruserMode:Mode:rMode::userMuserModeuserMode::ode:useruserMode:Mode:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuserMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:Mode:serMode:Mode:MouserMode:duserMode:userMode:e:userModeuserModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouserModeuserMode::de::uuserMode:serMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:userModeuserMode:userMode::uuserMode:seruserMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:userusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuserMode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::userMode:ode: 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5userMode:7.3*userMode:rt->dq[2],userModeuserMode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:MouserMode:de::useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:MuserMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:userModeuserMode::userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puserMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuserMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->useuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			userMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserMode::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:ususerMode:erMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:ususerMode:eruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:useuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruserMode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuserMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuserMode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userMode:,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuserMode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquserMode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususerMode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModeuserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserMode:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//			rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:userMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususerMode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserMode:rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:de:rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuserMode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerMode:erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuseruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouseruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:MouserMode:de:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuseuserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususerMode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususerMode:eruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:ususerMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserMode:ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:ode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMuserMode:ode:useruserMode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:ModeuserMode:userMode::userMuserMode:ode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerModeuserMode::erMode::userMode:userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userModeuserMode::57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMode::Mode:ode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuserMode:ode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMuserMode:ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserModeuserMode::de:					rt->x_desuseuseuserModeuserMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserModeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruseruserMode:Mode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModeuserMode::de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:ruserMode:Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euserMode:ruserMode:ModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeususerMode:erMode::,uuserMode:serMode:useruserMode:Mode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMode:useuuserMode:serMode:ruserMode:ususerMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserModuserMode:e:seuserMode:ruserMode:userMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], 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ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMouuserMode:suserMode:erMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:ususerMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseruserMode:MouserMode:de:de:useruserMode:userMode:ModuserMode:e:uuserMode:serMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:MouuserMode:suserMode:erMode:de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuserMode:ode:useuserMode:rMode:ususerMode:ususerMode:erMode:eruserMode:Mode:userModuserMode:euserMode::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rMode:useuserMode:rMode:ususerMode:userMode:eruserMode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouserMode:de:uuserMode:serMode:userMouserMouserMode:de:de:useruserMouserMode:de:Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMode:userModeuserMode::uuserMuserMode:odeuserMususerMode:euserMode:rMode:ode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:uuserMode:serMode:3*rt->jguserMode:userMode:oal[0], 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5userMode:7.3*userMode:rt->dq[2],userModeuserMode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:MouserMode:de::useruserMouserMode:de:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:MuserMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:userModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puserMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuserMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruserMode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:Mode:::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruserMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(rt->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:ususerMode:erModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:ususerMode:erMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:ususerMode:eruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserMode:Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserMode:rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useususerMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuserMode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuserMode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMode:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquserMode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususerMode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuserMode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:userMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuserMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuserMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:->honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususerMode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserMode:rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMode:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerMode:erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuseruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouseruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:MouserMode:de:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuseuserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:userMode:useruserMode:Mode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:Mode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususerMode:eruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:ususerMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserMode:ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:ode:userMode:useruserMode:Mode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMuserMode:ode:useruserMuserMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:ModeuserMode:userMode::userMuserMode:ode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerModeuserMode::erMode::userMode:userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMode:userMode:,userMode: userModeuserMode::57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:ode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuserMode:ode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMuserMode:ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserModeuserMode::de:					rt->x_desuseuseuserModeuseuserMode:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserModeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruseruserMode:Mode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModeuserMode::de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:useruserMode:Mode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:ruserMode:Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euserMode:ruserMode:ModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeususerMode:erMode::,uuserMode:serMode:useruserMode:Mode:useuserMode:rususerMode:erMode:userMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMode:useuuserMode:serMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserModuserMode:e:seuserMode:ruserMode:userMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:deuserMode::ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuserMode:oduserMode:e:e:userModeuserMode:userMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduserMode:e:duserMuserMode:oduserMode:e:euserMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMode:ode:serMode:ModuserMode:e:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			/userMode:/			userModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMouserMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMouserMode:de:erModuserMode:e:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserModeuserMode::de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:userMode:MuserMode:ouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserModeuserMode::seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:userMode:Mode:ususeuserMode:rMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseususerMode:erMode:rMode:rMode:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMuserMode:ode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMode:userMuserMuserMode:ode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMuserMode:ode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:ModeuserMode::userMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMuserMode:ode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userModeuserMode::useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuuserMode:seuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMouserMode:de:erMode:useruserMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userMode:Mode:userMode:userModeuserMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuserMode:serMouserMode:de:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMode:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuserMode:seruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:userMode:useruuserMode:serMode:ModeuserMode::userModuserMouserMode:de:userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:de:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:userMode:useruseruserMode:MuserMode:ouserMode:de:Mode:userMode:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserMode:rMode:userMode:ususeuserMode:rMode:euserMode:ruseruserMode:Mode:Mode:userMouserMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMode:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuserMode::rMode:ode:userMode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	userMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:seruserModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::useruserMode:Mode:useuseuserMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserMode:Mode:MouserMode:de:userModeuseuuserMode:serMode:rMuserMouserMode:de:ode::userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:userModeususerMode:euserMode:rMode:userModeuserMode:::userMouserMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserMode:e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMode:userModeuserModuserMouserMode:de:e::useruserModususerMode:erModeuserMode::e:Mode:userModeuserMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userMode:uuserMuserMode:oduserModeuserMode::e:serModeuserMode::userMuserModuuserMode:serMode:e:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:rMode:useuserMode:rModeuserModuserMode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseruuserMode:serModuserMode:e:MuserMode:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserMode:ruserMouseuserMode:rMode:de:Mode:orce[1],userMode:userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:Mode:userMode:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMuserMode:ode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:userMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:rMode:de:ModeuserMode::Mode:uuserMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuserMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2userMode:userMode:userMode:uuserMode:serMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:userMouseuseruserMode:ModeuserMode::rMode:deuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususerMode:euseruserMode:Mode:rMode:deuserMode::userMode:userMuserMode:ode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModeususerMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode::userMouseuseruserMode:Mode:rMode:deuserMode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:deuserMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:	rt->duserMouserMode:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:Mode:userModeuserMode::0],userMode: 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5userMode:7.3*userMode:rt->dq[2],userModeuserMode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:MouserMode:de::useruserMouserMode:de:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:MuserMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:userModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puserMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuserMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruserMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:						ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModeuseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserMode::userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(ruserMode:t->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:ususerMode:erModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:ususerMode:erMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:ususerMode:eruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]userModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuserMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuserMode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuserMode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMode:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquserMode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususerMode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuserMode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:userMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserMode:ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserMode:rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couserMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususerMode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserMode:rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:Mode:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerMode:erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuseruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouseruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:MouserMode:de:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMuseruserMode:Mode:ode:Mode:useuseuserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:Mode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:Mode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususerMode:eruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuserMode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:ususerMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserMode:ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruserModeuserModuserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMuserMode:ode:useruserMuserMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:ModeuserMode:userMode::userMuserMode:ode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMode:ususerModeuserMode::erMode::userMode:userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userMode: userModeuserMode::57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:ode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuserMode:ode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMuserMode:ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserModeuserMode::de:					rt->x_desuseuseuserModeuseuserMode:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserModeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruseruserMode:Mode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModeuserMode::de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:useruserMode:Mode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:ruserMode:Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euserMode:ruserMode:ModuserMode:e:userMouserMode:de:useruserMode:orguserMouserMode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeususerMode:erMode::,uuserMode:serMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuserMode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userMode:userMode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMode:useuuserMode:serMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:userModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMode:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:erMode:MuserMode:ode:deuserMode::userMode:userMode:userMode:userMode:userMode:useruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserModuserMode:e:seuserMode:ruserMode:userMode:ModuserMode:e:MouserMode:duserMode:e:uuseruserModuserMode:e:Mode:serMode:prinuserMode:ter_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], 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rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMouserMode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMouserMode:de:erModuserMode:e:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserModeuserMode::de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruserMode:Mode:useuserMode:rMode:useruseruserMode:Mode:userMode:MuserMode:ouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserModeuserMode::seruserMode:Mode:useruserMode:MususerMode:erMode:ode:userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:userMode:Mode:ususeuserMode:rMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uuseuseususerMode:erMode:rMode:rModuserMode:e:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMuserMode:ode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserMode:ModuserModeuserMode::e:userMode:useruseruserMode:userMuserMuserMode:ode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMuserMode:ode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserMode:ModuserMode:e:userMode:uuserMode:seruserMode:ModeuserMode::userMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMuserMode:ode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMouserMode:duserMode:e:useruserModuserMode:e:Mode:userModeuserMode::useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuuserMode:seuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode: 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5userMode:7.3*userMode:rt->dq[2],userModeuserMode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:MouserMode:de::useruserMouserMode:de:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:MuserMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:userModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puserMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuserMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserMode:r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruserMode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(ruserMode:t->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:ususerMode:erModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:ususerMode:erMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:ususerMode:eruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruserMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(useuseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deuserMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::erMode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserMode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuserMode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:userMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquserMode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususerMode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(rt-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:Mode:Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:userMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMode:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:Mode:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me is userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususerMode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::userModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMouserMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerMode:erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuseruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouseruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:useruserMode:MouserMode:de:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useuseuserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:Mode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:Mode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususerMode:eruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruserMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:ususerMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 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userModeuserMode::57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:ode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuserMode:ode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMuserMode:ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMode::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 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rt->xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMode:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModeuserMode::de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:userususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::Mode:userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMode:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:useruserMode:Mode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erMode:ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:ruserMode:Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuserMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userMode:userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:de:userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:userMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:ususeruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:ususerMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euserMode:ruserMode:ModuserMode:e:userMouserMode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserMode:de::userMode:], 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rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:deuserMode::ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuserMode:userMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserMode:oduserMode:e:euserMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMode:ode:serMode:ModuserMode:e:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			/userMode:/			userModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], 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ruserModuserMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuserModeuserMode::userMode:seruserMode:ModeuserModeuserMode::userMode:userMode::userMuserMode:ode:uuserMode:seuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerMode:eruserMode:MouseuserMode:rMode:duserMode:euserMuserModeuserMode::oduserMode:e::userModuserMode:e:userMode:userMode:ususerMode:eruuserMode:serMode:ModeuserMode::uuserMode:serMode:userMode:uuserModeuserMode::serMode:userModeuserModeuserMode::ususerMode:erMode::useruserMode:MuserMode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModuserMode:euuserMode:serMode::ModeuuserMode:seuserMode:rMode::userMode:userMouuserMode:serMode:de:useruserModeuseuserMode:rMode::Mode:userModuserModuserMode:e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:userMode:userMode:userMode:uuserModeuserMode::userMode:seruseruserMode:Mode:ModuserMode:euserMode:userMode::userMuuserMode:serMode:ode:useuserMode:rMode:userMode:userMode:useruserMuserMode:ode:ModeuseuserMode:ruuserMode:serMode:Mode::ususerMode:erMode:userMode:userModuserMode:e:userMouserModeuserMode::userMode:de:useuserMode:ruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:userMode:uuserMode:seruserMode:ModeususerModeuserModeuserMode:::erMode::userModuserMode:euserMode::userMouserMode:de:userMuserMode:ode:useuserMouserMode:de:rMode:useruserMode:ModeuserMode::useuserModeuserMode::ruserMode:Mode:ususerMode:erMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:userMode:riuseruserMode:MuserMouserMode:de:ode:nuserModuserMode:e:ter_org.cpp:						uuserMode:suserMode:erMode:rt->xee[1], ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMouuserMode:suserMode:erMode:de:userMode:userMode:userMuserMode:ode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:ususerMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseruserMode:MouserMode:de:de:useruserMode:userMode:ModuserMode:e:uuserMode:serMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:MouuserMode:suserMode:erModeuserMode::de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuserMode:ode:useuserMode:rMode:ususerMode:ususerMode:erMode:eruserMode:Mode:userModuserMode:euserMode::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMuserMode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rMode:useuserMode:rMode:ususerMode:userMode:eruserMode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouserMode:de:uuserMode:serMode:userMouserMouserMode:de:de:useruserMouserMode:de:Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMususerMode:euserMode:rMode:ode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:uuserMode:serMode:3*rt->jguserMode:userMode:oal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeususerMuserMode:ode:erMode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuseuserMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:duserMode:e::uuserMouserMode:duserMode:euserMode::seruserMode:Mode:useruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMode:uuserMode:seuseuserMode:rMode:rMode:useruseruuserMode:seruserModuserMode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:MuserMode:ode:userModeuserModuserMode:e:userMode::uuseuseuserMode:ruserMode:Mode:rModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:userMode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:userModeususerMode:eruserMode:ModuserMode:e::useuuuserMode:serMode:serMode:rModuserMode:e:useruserMode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:userMode:useuuserMode:seuserMode:rMode:rModeuserModeuserMode::userMode::uuserModeuserMode::seruserMode:ModeuserMode::useuserMode:rMuserMouserMode:de:ode:userMode:useuseruseruserMode:Mode:Mode:rMode:userMode:useruseruserMode:MouserMode:de:*rt->jgoal[userMode:2],userMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:Mode:useruseuserMode:rMode:MuserMode:ode:userModeuuserMode:seususerMode:erMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserModeuserMode::userMode::uuserModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::uuserMode:serMode:useruserModeuseuserMode:rMode::Mode:userModeususerMode:erMode::useususerMode:erMode:rMouserMode:de:useruserMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserMode:::ModeuserModuserMode:e::userMode:userMode:userModeuserModeuserMode::userMode::uuserModeuserMode::serMode:useuserMode:ruseruuserMode:seuserMode:ruserMode:MouserMode:deuserMode::ModuserMode:e:Mode:userMode:userMode:uuserMode:serMode:userModeuserMode::useuseuserMode:rMode:ruserMode:Mode:uuserMode:serMuserMode:ode:useuserMode:rMouseuserMode:rModuserMode:e:de:useruserMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeuserMode::rususerMode:erMode:ModeuserMode::ter_org.cpp:					userModeuserMode::userMode:	5userModeuserMode:userMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-ususerMode:eruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuseruseruserMode:Mode:Mode:serMode:useuserMode:ruserMode:MouserMode:deuserMuserMode:ouserMode:de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:Mode::rMode:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userModeuserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:de:rMuserMode:ode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMouserMode:deuserMuuserMode:serMode:ode:userMode::userModuserMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:erMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MoususerMode:erModeuserMode::deuserMuserMode:ode::userModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserMode:userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:Mode::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:MouserMode:de:useususerMode:erMuserMode:oduserMode:e:ruserModeuserMode::Mode:userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inter_org.userMode:cpuuserMode:serModeuseruserMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->userMode:q[4]userMode:uuserMode:serMode:userModuserMode:e:userMouserMode:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[userMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruserMode:Mode:useruserMode:Mode:useruuserMode:serMode:Mode:useruseruseuserMode:rMode:MouserMode:de:Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMode:odeuserMode::uuserMode:serMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserMode:ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuserMode::userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userModeususerMode:erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuseruserMode:Mode::ususerMode:erMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode::Mode:ModeuserMode::userModeuserMode::useruserMode:ModeuserMode::userMode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuserMode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:MouserMode:de::useruserMouserMode:de:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:MuserMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:userModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauserMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puserMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuserMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:useuserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuserMode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(ruserMode:t->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:ususerMode:erModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:ususerMode:erMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:ususerMode:eruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userModeuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::rMode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserMode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuserMode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquserMode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususerMode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuseruserModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serMode:Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserMode:Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeuseuserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserMode:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususerMode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuserMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerMode:erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuseruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouseruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useuseuserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:Mode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:Mode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususerMode:eruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:Mode:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:ususerMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuserMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserMode:ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruserModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMuserMode:ode:useruserMuserMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userMode:userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userMode: userModeuserMode::57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:ode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuserMode:ode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMuserMode:ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:Mode:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userMode:userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserMode:Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMouserModeuserMode::de:					rt->x_desuseuseuserModeuseuserMode:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uuserMode:seuususerMode:erMouserModeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruseruserMode:Mode:Mode:de::userMode:useruserMode::userMode:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], 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userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMode:odeuserMode::uuserMode:serMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserMode:ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuserMode::userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userModeususerMode:erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuseruserMode:Mode::ususerMode:erMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode::Mode:ModeuserMode::userModeuserMode::useruserMode:ModeuserMode::userMode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuseruserMode:Mode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:MouserMode:de::useruserMouserMode:de:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:MuserMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:userModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuserMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruserMode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->minuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(ruserMode:t->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:ususerMode:erModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:ususerMode:erMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:ususerMode:eruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuserMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserMode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:e:userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuserMode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is ususerMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquserMode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususerMode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuserususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruserMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseuserMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMode:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:userModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususerMode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuseuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMode:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerMode:erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuseruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], 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rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:Mode:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuserMode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(ruserMode:t->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:ususerMode:erModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:ususerMode:erMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:ususerMode:eruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:duserMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModeuserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:userMode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserMode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMouseuserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserMode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuserMode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:untimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquserMode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:ModeuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruserMode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuserususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruserMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruseuserMode:rMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMode:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userModuseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:userMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususerMode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerMode:erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useuseuserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:Mode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:Mode:erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususerMode:eruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:Mode::uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruserModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMoususerMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:ususerMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerMode:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserMode:rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserMode:ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruserModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppuserMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMuserMode:ode:useruserMuserMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserModeuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:userModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduserMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userMode:userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userMode: 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userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMode:odeuserMode::uuserMode:serMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserMode:ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuserMode::userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userModeususerMode:erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userMode:ModeuserMode::Mode:userModeuserMode::useruserMode:userMode:ModeuseruserMode:Mode::ususerMode:erMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode::Mode:ModeuseruserMode:Mode::userModeuserMode::useruserMode:ModeuserMode::userMode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2],userModeuseruserMode:Mode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:MuserMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuserMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuserMode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(ruserMode:t->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:ususerMode:erModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:ususerMode:erMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:ususerMode:eruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:ModuserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserMode:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserMode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMouserMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserMode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuserMode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:rMode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuserMode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquserMode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:MouserMode:deuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruserMode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuserususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:userMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruseuserMode:rMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruseuserMode:rMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:userMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMode::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], 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rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMouseruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], 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5userMode:7.3*userMode:rt->dq[2],userModeuseruserMode:Mode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:MuserMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruseruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:userMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(ruserMode:t->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:ususerMode:erModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:ususerMode:erMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:ususerMode:eruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuserMode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rMode:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserMode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MouserMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserMode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuserMode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:userMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:Mode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuserMode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquserMode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:uuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:MouserMode:deuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruserMode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuserususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuseruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:ususerMode:erMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruseuserMode:rMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruseuserMode:rMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuserMode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->user_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserMode:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuserMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], 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rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMouseruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], 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5userMode:7.3*userMode:rt->dq[2],userModeuseruserMode:Mode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruseuserMode:rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:MuserMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruserMode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruserMode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserMode:Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::ususerMode:erModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::(ruserMode:t->tf[iuserMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:ususerMode:erModeuseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:ususerMode:erMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModeuseuserMode:ruserMode:Mode::useruserMode:ModuserMode:e:userModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:ususerMode:eruseruseruserMode:Mode:Mode:ModuserMode:e:userMode:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuserMode:rMode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuserMode:::userMode:useruserMode::		useruserMode:Mode:	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserMode:de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserMode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserMode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuserMode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:Mode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuserMode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquserMode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:userMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:uuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:MouserMode:deuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruserMode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuserususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserModuseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuuserMode:seruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:ususerMode:erMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruseuserMode:rMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruseuserMode:rMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:useruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuserMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userModeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:useuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], 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rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:serMode:	rtuserMode:->uuserMode:serMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuserMode:userMode::userMode:userMode:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserMode::oduserMode:e:euserMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMode:ode:serMode:MuserMode:oduserMode:e:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			/userMode:/			userMode:userModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMouseruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:userusususerMode:userMouserMode:de:erModuserMode:e:erMode:Mode:ususerMode:erMode:useuserMode:ruserMode:Mode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMouserMode:de:useruseruserMode:MouserModeuserMode::de:Mode:useruserMode:Mode:useruserMode:MuserMode:ode:userModuserMode:userMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:rMode:useruseruserMode:Mode:userMode:MuserMode:ouserMode:de:userMode:usuuserModeuserMode::serMode:eruserMode:Mode:userMode:useruserMouserMode:de:Mode:userMode:userususerMode:erMode:ModeuserMode::uuserModeuserMode::seruserMode:Mode:useruserMode:MususerMode:erMode:odeuserMode::userMode:useruseususerMode:erMode:rMode:Mode:userMode:useuserMode:ruseruserMode:Mode:userMode:Mode:ususeuserMode:rMode:erMouserMode:de:useuserMode:ruserModuserMode:e:Mode:userMode:useruserMode:Mode:uuserMode:serMode:useruserMode:MouserMode:de:userModeuserMode::uususerMode:euseususerMode:erMode:rMode:rModuserMode:e:seruserMode:Mode:userMuserMode:ode:useruserMuserMode:ode:ModuserMode:e:userMode:useruserModuserMode:euserMuserMuserMode:ode:ode::Mode:userMuserMode:ode:userususerMouserMode:de:erMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:seruserModeuserMode::ModuserModeuserMode::e:userMode:useruseruserMode:userMuserMuserMode:ode:ode:MouserMode:de:Mode:userMode:useruuserMode:serMuserMode:ode:Mode:ususerMode:erModuserMode:e:useruserMode:ModeuserMuserMode:ode::useuserMode:rMode:useruuserMode:serModeuserMode::MouserMode:de:userMode:ususerMode:eruserModeuserMode::ModuserMode:e:userMode:uuserMode:seruserMode:ModeuserMode::userMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::uuserMode:serMode:useruserModuserMode:e:MuseruserMode:Mode:ode:userMode:useruseuserMode:rMode:ModeuserMuserMode:ode::userMode:useuserMode:ruserModeususerMode:erMode::Mode:useuserMode:rMouserMode:duserMode:e:useruserModuserMode:e:Mode:userModeuserMode::useruserMouserMode:de:Mode:userMode:userususerMode:erMode:userMode:Mode:userModeuuserMode:seuserMode:rMode::uuserMode:seruserMode:Mode:userMode:pp:		userMode:					rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: 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rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMode:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:oduserMode:e:ModuserMuserMode:ode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:ususerMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:rMode:de:ModeuserMode::Mode:uuserMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:userMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: rt->F[2useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:ususerMode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:userMouseuseruserMode:ModeuserMode::rMode:deuserMode::userMode:userMode:useruuserMode:serModeuserMode::Mode:userMode:userModuserMuserMode:ode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususerMode:euseruserMode:Mode:rMode:deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:Mode:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userModeususerMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode::userMouseuseruserMode:Mode:rMode:deuseruserMode:Mode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuserMode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:deuserMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:rMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:	rt->duserMouserMode:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:Mode:userModeuserModeuserMode:::0],userMode: 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5userMode:7.3*userMode:rt->dq[2userMode:],userModeuseruserMode:Mode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruseuserMode:rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:MuserMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModeuseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruserMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserModeuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:schars(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruserMode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserMode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserMode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuserMode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserMode:Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:Mode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuserMode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquserMode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:toruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:userMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:userMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:uuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:MouserMode:deuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruserMode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuserususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMode:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMouserMode:duseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuuserMode:seruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:ususerMode:erMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruseuserMode:rMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruseuserMode:rMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cpuserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:seuserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuserMode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMode:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:userMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserMode:rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMode:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:de:rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useuseuserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:Mode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserMode:Mode:eruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:MouserMode:de::uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruuserMode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuserMode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 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57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duserMode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserMode:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], 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rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMouseruserMode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], 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ruseruserMode:Mode:t->xeuuserModuserMode:euserMode::serMode:userMouuserMode:suserMode:erMode:de:userMode:userMode:userMuserMode:ode:useususerMode:erMode:rModeuserMode::useruserModeuserMode::Mode:ususerMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseuserMode:ruserMode:MouserMode:de:de:useruserMode:userMode:ModuserMode:e:uuserMode:serMode:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:MouuserMode:suserMode:erModeuserMode::de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuserMode:ode:useuserMode:rMode:ususerMode:ususerMode:erMode:eruserMode:Mode:userModuserMode:euuserMode:serMode::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:userMode:userMode:userMode:userMode:userModeuserMode::uuserModeuserMuserMode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rMode:useuserMode:rMode:ususerMode:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouserMode:de:uuserMode:serMode:userMouserMouserMode:de:de:useruserMouserMode:de:Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMususerMode:euserMode:rMode:ode::serMode:useruserMode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:ode:serMode:3*rt->jguserMode:userMode:oal[0], 57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeususerMuserMode:ode:erMode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuseuserMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:duserMode:e::uuserMouserMode:duserMode:euserMode::seruserMode:Mode:userMode:useruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userMode:userMode:uuserMode:seuseuserMode:rMode:rMode:useruseruuserMode:seruserModuserMode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userMode:useuserModeuserMode::rMode:useruserMode:MuserMode:ode:userModeuserModuserMode:e:userMode::uuseuseususerMode:erMode:ruserMode:Mode:rModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:useruserMode:Mode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:userModeususerMode:eruserMode:ModuserMode:e::useuuuserMode:serMode:serMode:rModuserMode:e:useruserMode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:userMode:useuuserMode:seuserMode:rMode:rModeuserModeuserMode::userMode::uuserModeuserMode::seruserMode:ModeuserMode::useuuserMode:serMode:rMuserMouserMode:de:ode:userMode:useuseruseruserMode:Mode:Mode:rMode:userMode:useruseruserMode:MouserMode:de:*rt->jgoal[userMode:2],userMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:Mode:useruseuserMode:rMode:MuserMode:ode:userModeuuserMode:seususerMode:erMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserModeuserMode::userMode::uuseuserMode:rModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userMode:userModuseruserMode:Mode:e:userMode:userModeuserMode::uuserMode:serMode:useruserModeuseuserMode:rMode::Mode:userModeususerMode:erMode::useususerMode:erMode:rMouserMode:de:useruserMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserMode:::ModeuserModuserMode:e::userMode:useruserMode:Mode:userModeuserModeuserMode::userMode::uuserModeuserMode::serMode:useuserMode:ruseruuserMode:seuserMode:ruserMode:MouserMode:deuserMode::ModuserMode:e:Mode:userMode:userMode:uuserMode:serMode:userModeuserMode::useuseuserMode:rMode:ruserMode:Mode:uuserMode:serMuserMode:ode:useuserMode:rMouseuserMode:rModuserMode:e:de:useruserMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeususerMode:erMode::rususerMode:erMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userModeuserMode:userMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-ususerMode:eruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuseruseruserMode:Mode:Mode:serMode:useuserMode:ruserMode:MouserMode:deuserMuserMode:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:de::rMode:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::de:Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userModeuserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:de:rMuserMode:ode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMouserMode:deuserMuuserMode:serMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:userMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:erMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MoususerMode:userMode:erModeuserMode::deuserMuserMode:ode::userModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserMode:userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:Mode::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::Mode:userMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inter_org.userMode:cpuuserMode:serModeuseruserMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->userMode:q[4]userMode:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMode:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[userMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruserMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruseuserMode:rMode:MouserMode:de:Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMode:odeuserMode::uuserMode:serMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuserMode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuserMode::userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userModeususerMode:erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userMode:ModeuserMode::Mode:userModeuserMode::useruserMode:userMode:ModeuseruserMode:Mode::ususerMode:erMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::userModeuserMode::useruserMode:ModeuserMode::userMode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],userModeuseruserMode:Mode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruseuserMode:rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userMode:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:Mode:rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rMode::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:userMode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuserMode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruserMode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserMode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(userMuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserMode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuserMode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:userModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:Mode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuserMode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquserMode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:tuserMode:oruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:userMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:userMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:uuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:MouserMode:deuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruserMode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuserususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuserMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMouserMode:duseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuuserMode:seruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:ususerMode:erMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruseuserMode:rMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruseuserMode:rMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rt->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserMode:euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suserMode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuserMode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	userMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:de:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserMode::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useuseuserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserMode:Mode:eruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:MouserMode:de::uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruuserMode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserMode:rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserMode:ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerMode:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruserModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMuserMode:ode:useruserMuserMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserModuserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: 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userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMode:odeuserMode::uuserMode:serMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuserMode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuserMode::userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userModeususerMode:erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserMode:userMode:ModeuseruserMode:Mode::ususerMode:erMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::userModeuserMode::useruserMode:ModeuserMode::userMode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],userModeuseruserMode:Mode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::useuserMode:ruseuserMode:rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMuserMode:ode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rMode:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:useuseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruserMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuserModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruserMode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuserMode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruserMode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:ususerModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserMode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserMode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuserMode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:Mode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuserMode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:tuserMode:oruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:userMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:userMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:uuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:MouserMode:deuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruserMode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuserususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:userususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMouserMode:duseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuuserMode:seruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:ususerMode:erMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruseuserMode:rMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruseuserMode:rMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rtuserMode:->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuserMode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suserMode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuserMode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuserMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::useuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:ime4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMode:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:userModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserMode::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserMode:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserMode:Mode:eruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:MouserMode:de::uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruuserMode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:userMode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserMode:rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserMode:ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruserModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMuserMode:ode:useruserMuserMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruseuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuserMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: userModeuserMode::57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserMode::useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuserMode:ode:userMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMuseruserMode:Mode:ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:MouserMode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:userModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserMode:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserMode:ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModeuserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:useruserMode:Mode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:ruserMode:Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:userModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euserMode:ruserMode:ModuserMode:e:userMouserMode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], 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rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:odeuseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuserMode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:useuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususerMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuserMode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruserMode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuserMode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruserMode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserMode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::Mode:Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserMode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:Mode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuserMode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erMode:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:tuserMode:oruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:userMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:userMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:uuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:MouserMode:deuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruserMode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuserususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:userMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:ususerMode:erususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMouserMode:duseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuuserMode:seruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:ususerMode:erMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruseuserMode:rMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruseuserMode:rMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:userMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rtuserMode:->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMode:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuserMode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suserMode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuserMode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:Mode:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deuserMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:Mode:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserMode:e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:ususerMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserMode::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:serMode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserModuserMode:e:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserMode:Mode:eruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:MouserMode:de::uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruuserMode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseuserMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 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57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:erMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MoususerMode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserMode:userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:Mode::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::Mode:useuserMode:rMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inter_org.userMode:cpuuserMode:serModeuseruserMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->userMode:q[4]userMode:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMode:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[userMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruserMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruseuserMode:rMode:MouserMode:de:Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMode:odeuserMode::uuserMode:serMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuserMode::userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userModeususerMode:erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserMode:userMode:ModeuseruserMode:Mode::ususerMode:erMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::userModeuserMode::useruserMode:ModeuserMode::userMode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],userModeuseruserMode:Mode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::ususerMode:euserMode:ruseuserMode:rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMuserMode:ode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:Mode:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserMode::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruserMode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuserMode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuserMode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuserMode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruserMode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuserMode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruserMode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:rMode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserMode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserMode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserMode:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:Mode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuserMode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userMode:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:tuserMode:oruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:userMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:userMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:uuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:MouserMode:deuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruserMode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuserususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModuseuserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:ususerMode:erususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMouserMode:duseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuuserMode:seruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:ususerMode:erMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruseuserMode:rMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruseuserMode:rMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserModeuserMode:::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:userMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rtuserMode:->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:priuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuserMode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suserMode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuserMode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:rMode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruseruserMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:odeuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserMode::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserMode:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:seruserMode:Mode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserModuserMode:e:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserMode:Mode:eruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:MouserMode:de::uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruuserMode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserMode:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:userMode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:useruserMode:Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserMode:rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruserModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMuserMode:ode:useruserMuserMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMouserMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruserMode:useuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: userModeuserMode::57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserMode::useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuserMode:ode:userMode:ruserMode:Mode:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMuseruserMode:Mode:ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserMode:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:odeuserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMouseruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserMode:ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModeuserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:useruserMode:Mode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:ruserMode:Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euserMode:ruserMode:ModuserMode:e:userMouserMode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], 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rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModeuserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruserMode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususerMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouserMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuserMode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuserMode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruserMode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuserMode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruserMode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserMode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserMode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:Mode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuserMode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuserMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:tuserMode:oruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:userMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:userMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:uuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:MouserMode:deuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruserMode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuserususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModususerMode:euserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:ususerMode:erususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMouserMode:duseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuuserMode:seruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:ususerMode:erMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruseuserMode:rMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruseuserMode:rMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMouserMode:de:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserModeuserMode:::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:userMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rtuserMode:->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuserMode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suserMode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuserMode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:			puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruserususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeuserMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserMode::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserMode::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:seruserMode:Mode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserModuserMode:e:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserMode:Mode:eruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:MouserMode:de::uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruuserMode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 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57userMode:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuseruseruserMode:Mode:Mode:serMode:useuserMode:ruserMode:MouserMode:deuserMuserMode:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:de::rMode:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::deuserMode::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userModeuserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:de:rMuserMode:ode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMouserMode:deuserMuuserMode:serMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:useuserMode:rMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:erMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MoususerMode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserMode:userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:Mode::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::Mode:useuserMode:rMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserMode::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inter_org.userMode:cpuuserMode:serModeuseruserMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->userMode:q[4]userMode:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMode:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[userMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruserMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruseuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMode:odeuserMode::uuserMode:serMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuserMode::userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userModeususerMode:erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserMode:userMode:ModeuseruserMode:Mode::ususerMode:erMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeuseruserMode:Mode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::ususerMode:euserMode:ruseuserMode:rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMuserMode:ode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:ode:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruserMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuserMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:Mode:de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMode:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuserMode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuserMode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuserMode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruserMode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuserMode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruserMode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserMode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserMode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:rMouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:Mode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuserMode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuseruserMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:tuserMode:oruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:userMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:userMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:uuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:MouserMode:deuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruserMode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuserususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:userMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:userMode:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModususerMode:euserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:ususerMode:erususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMouserMode:duseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuuserMode:seruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:ususerMode:erMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruseuserMode:rMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruseuserMode:rMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::Mode:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuseruserMode:Mode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMouserMode:de:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserModeuserMode:::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:userMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rtuserMode:->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:useruserMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuserMode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suserMode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuserMode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMode:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruserususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerMode:erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuserMode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:userModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserMode::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMode::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:userMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:seruserMode:Mode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserModuserMode:e:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserMode:Mode:eruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:MouserMode:de::uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruuseruserMode:Mode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:userMode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:useruserMode:Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserMode:rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruserModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruserMode:Mode:userMode:userMuserMode:ode:useruserMuserMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruserMode:useuserMode:rModuserMode:e:Mode:Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::ususerMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModuserMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: userModeuserMode::57.3*rt->jgouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserMode::useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuserMode:ode:userMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puserMode:riuserMuseruserMode:ModeuserMode::ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModeuserMode::ususeruserMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:erMode:printeuserMode:r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:Mode:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMode:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::printer_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserMode:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserMode:ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModeuserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euserMode:ruserMode:ModuserMode:e:userMouserMode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], 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rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: 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57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:userModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userMode:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuserMode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruserMode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMode:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euserMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruseruserMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuserMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:userMode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouserMode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuserMode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuserMode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuserMode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruserMode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuserMode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruserMode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMode:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserMode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserMode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:Mode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuserMode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserMode:e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:tuserMode:oruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:userMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:userMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:uuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:MouserMode:deuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruserMode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuserususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:				userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:useuserMode:rMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:userMode:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModususerMode:euserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:ususerMode:erususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMouserMode:duseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuuserMode:seruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:ususerMode:erMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruseuserMode:rMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruseuserMode:rMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuseruserMode:Mode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMouserMode:de:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserModeuserMode:::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:userMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rtuserMode:->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:Mode:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuserMode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suserMode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuserMode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::userMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMode:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruserususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuserMode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeuseuserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserMode::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:userMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:seruserMode:Mode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserModuserMode:e:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserMode:Mode:eruserMode:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:MouserMode:de::userMode:uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruuseruserMode:Mode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], 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rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserMode:userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMode:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:oduserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:ususerMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:rMode:de:ModeuserMode::MouserMode:de:uuserMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:userMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,useruserModuserMode:e:Mode: 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ruserModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuserModeuserMode::userMode:seruserMode:ModeuserModeuserMode::userMode:userMode::userMuserMode:ode:uuserMode:seuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerMode:eruserMode:MouseuserMode:rMode:duserMode:euserMuserModeuserMode::oduserModeuserMode::e::userModuserMode:e:userMode:userMode:ususerMode:eruuserMode:serMode:ModeuserMode::uuserMode:serMode:userMode:uuserModeuserMode::serMode:userModeuserModeuserMode::ususerMode:erMode::useruserMode:MuseruserMode:Mode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModuserMode:euuserMode:serMode::ModeuuserMode:seuserMode:rMode::userMode:userMouuserModuserMode:e:serMode:de:useruserModeuseuserMode:rMode::Mode:userModuserModuserMode:e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:userMode:userMode:userMode:uuserModeuserMode:userMode::userMode:seruseruserMode:Mode:ModuserMode:euserMode:userMode::userMuuserMode:serMode:ode:useuserMode:rMode:userMode:userMode:useruserMuserMode:ode:ModeuseuserMode:ruuserMode:serMode:Mode::ususeuserMode:rMode:erMode:userMode:userModuserMode:e:useruserMode:MouserModeuserMode::userMode:de:useuserMode:ruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeususerModeuserModeuserMode:::erMode::userModuserMode:euserMode::userMouserMode:de:userMuserMode:ode:useuserMouserMode:de:rMode:useruserMode:ModeuserMode::useususerMode:erModeuserMode::ruserMode:userMode:Mode:ususerMode:erMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:userMode:riuseruserMode:MuserMouserMode:de:ode:nuserMode:userModuserMode:e:ter_org.cpp:						uuserMode:suserMode:erMode:rt->xee[1], 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57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeususerMuserMode:ode:erMuserMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuseuserMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouseuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserMode::seruserMode:Mode:userMode:useruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userMode:userMode:uuserMode:seuseuserMode:rMode:rMode:useruseruuserMode:seruserModuserMode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MuserMode:ode:userModeuserModuserMode:e:userMode::uuseuseususerMode:erMode:ruserMode:Mode:rModeuserMode::serMode:useuserMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:useruserMode:Mode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:userModeususerMode:eruserMuserMode:ode:ModuserMode:e::useuuuserMode:serMode:serMode:rModuserMode:e:useruserMode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:userMode:useuuserMode:seuserMode:rMode:rModeuserModeuserMode::userMode::uuserModeuserMode::seruserMode:ModeuserMode::useuuserMode:serMode:rMuserMouserMode:de:ode:userMode:useuseruseruserMode:Mode:Mode:rMode:userMode:useruseruserMode:MouserModuserMode:e:de:*rt->jgoal[userMode:2],userMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:Mode:useruseuserMode:rMode:MuserMode:ode:userModeuuserMode:seususerMode:erMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserModeuserMode::userMode::uuseuserMode:rModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userModeuserMode::uuserMode:serMode:useruserModeuseuserMode:rMode::Mode:userModeususerMode:erMode::useususerMode:erMode:userMode:rMouserMode:de:useruserMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserMode:::ModeuserModuserMode:e::userMode:useruserMode:Mode:userModeuserModeuserMode::userMode::uuserModeuserMode::serMode:useuserMuserMode:ode:ruseruuserMode:seuserMode:ruserMode:MouserMode:deuserMode::ModuserMode:e:Mode:userMode:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruserMode:Mode:uuserMode:serMuserMode:ode:useuserMode:rMouseuserMode:rModuserMode:e:de:useruserMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeususerMode:erMode::rususerMode:erMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userModeuserMode:userMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuseruseruserMode:Mode:Mode:serMode:useuserMode:ruserMode:MouserMode:deuserMuserMode:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:de::rMode:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::deuserMode::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userModeuserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:de:rMuserMode:ode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMouserMode:deuserMuuserMode:serMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:useuserMode:rMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:erMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MoususerMode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserModeuserMode::userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:Mode::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::Mode:useuserMode:rMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inter_org.userMode:cpuuserMode:serModeuseruserMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->userMode:q[4]userMode:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMode:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[userMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruserMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruseuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMode:odeuserMode::uuserMode:serMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserMode::userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userModeususerMode:erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruserMode:Mode::ususerMode:erMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeuseruserMode:Mode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::ususerMode:euserMode:ruseuserMode:rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuserMode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userMode:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:useruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuserMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->a3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuserMode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useususerMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruserMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouserMode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuserMode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuserMode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuserMode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruserMode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuserMode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruserMode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:userMouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserMode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMode:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserMode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:userMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:Mode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuserMode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:tuserMode:oruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:userMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:userMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:uuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:MouserMode:deuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruserMode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuserususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:			userMode:	userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:useuserMode:rMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:userMode:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModususerMode:euserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:ususerMode:erususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMouserMode:duseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuuserMode:seruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:ususerMode:erMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruseuserMode:rMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruseuserMode:rMode:Mode:ode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuseruserMode:Mode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMouserMode:de:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserModeuserMode:::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:userMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rtuserMode:->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuserMode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suserMode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuserMode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruserususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erMode:e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouserMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuserMode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:useruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserMode::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:userMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:seruserMode:Mode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserModuserMode:e:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuserMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserMode:Mode:eruserMouserMode:de:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:MouserMode:de::userMode:uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruuseruserMode:Mode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuserMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruserMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:serMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:useruserMode:Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserMode:rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rMode:userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruserModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:ode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuserMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 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userMode:5useruserMode:ModeuserMode::7.3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMode:serMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserMode::userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userModeususerMode:erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruserMode:Mode::ususerMode:erMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeuseruserMode:Mode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::ususerMode:euserMode:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruseruseruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tau[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MuserMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt->forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserMode::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuserMode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_vouserModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeuserMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuserMode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruserMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouserMode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuserMode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuserMode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuserMode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruserMode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuserMode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruserMode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		pususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruserMode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserMode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userMode:Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:Mode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuserMode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:de:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:tuserMode:oruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:userMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:userMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:uuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:MouserMode:deuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruserMode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuuserMode:serususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:			userMode:	userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:useuserMode:rMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:userMode:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModususerMode:euserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:ususerMode:erususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMouserMode:duseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuuserMode:seruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:ususerMode:erMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruseuserMode:rMode:userMuserMode:ode:ususeruserMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruseuserMode:rMode:Mode:ode:userModuserMode:e:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuseruserMode:Mode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMouserMode:de:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserModeuserMode:::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:userMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rtuserMode:->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouserModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuserMode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suserMode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuserMode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruseruserMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:userMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:erModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruserususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuserMode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserMode::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useuserModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMuserMode:ode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:userMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:], 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rt->userMode:xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerMode:erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserMode:ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModeuserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModeuserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuserMode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], 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rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserMode:->uuserMode:suserMode:erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:userMode::userMode:userMouserMode:de:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserMode::oduserMode:e:euserModuserMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMode:ode:serMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			/userMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuserMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: 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rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserMode:userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMode:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:oduserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:ususerMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:rMode:de:ModeuserMode::MouserMode:de:uuserMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:seruserModuserMode:e:Mode: 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rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-userMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModeuserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: ususerMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::rMode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususerMode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuserMode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruserMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouserMode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuserMode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuserMode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuserMode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruserMode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuserMode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruserMode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMouserMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:Mode:useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserMode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:serModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:Mode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuserMode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime is usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:tuserMode:oruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:userMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:userMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:uuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:MouserMode:deuserMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruseruserMode:Mode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuuserMode:serususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:			userMode:	userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:useuserMode:rMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:userMode:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModususerMode:euserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:ususerMode:erususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMouserMode:duseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuuserMode:seruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:ususerMode:erMode:uuseruserModeuserMode::Mode:serModuserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruseuserMode:rMode:userMuserMode:ode:ususeruuserMode:serMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruseuserMode:rMode:Mode:ode:userModuserMode:e:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuseruserMode:Mode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMouserMode:de:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserModeuserMode:::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:userMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rtuserMode:->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuserMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuserMode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suserMode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuserMode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruserMode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:userMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserModeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruserususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuserMode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:userMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserMode:de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserMode::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useususerMode:erModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMuserMode:ode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:userMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:seruserMode:Mode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserModuserMode:e:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruuserMode:serMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuuserMode:serMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserMode:Mode:eruserMouserMode:de:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:MouserMode:de::userMode:uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruuseruserMode:Mode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], 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57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserMode:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:ususerModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserMode:ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModeuserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModeuserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuserMode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuserModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:serMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMode:useuuserMode:serMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userModuserMode:e:useruuserMode:serModuserMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:eruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMode:teuserMode:r_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserMode:->uuserMode:suserMode:erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:userMode::userMode:userMouserMode:de:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserMode::oduserMode:e:euserModuserMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMode:ode:serMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			/userMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: 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ruserModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuserModeuserMode::userMode:seruserMode:ModeuserModeuserMode::userMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerMode:eruserMode:MouseuserMode:rMode:duserMode:euserMuserModeuserMode::oduserModeuserMode::e::userModuserMode:e:userMode:userMode:ususerMode:eruuserMode:serMode:ModeuserMode::uuserMode:seruserMode:Mode:userMode:uuserModeuserMode::serMode:userModeuserModeuserMode::ususerMode:erMode::useruserMode:MuseruserMode:Mode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModuserMode:euuserMode:serMode::ModeuuserMode:seuserMode:rMode::userMode:userMouuserModuserMode:e:serMode:de:useruserModeuseuserMode:rMode::Mode:userModuserModuserModeuserMode::e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:userMode:userMode:userMode:uuserModeuserMode:userMode::userMode:seruseruserMode:Mode:ModuserMode:euserMode:userMode::userMuuserMode:serMode:ode:useuserMode:rMode:userMode:userMode:useruserMuserMode:ode:ModeuseuserMode:ruuserMode:serMode:Mode::ususeuserMode:rMode:erMode:userMode:userModuserMode:e:useruserMode:MouserModeuserMode::userMode:de:useuserMode:ruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeususerModeuserModeuserMode:::erMode::userModuserMode:euserMode::userMouserMode:de:userMuserMode:ode:useuserMouserMode:de:rMode:useruserMode:ModeuserMode::useususerMode:erModeuserMode::ruserMode:userMode:Mode:ususerMode:erMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:userMode:riuseruserMode:MuserMouserMode:de:ode:nuserMode:userModuserMode:e:ter_org.cpp:						uuserMode:suserMode:erMode:rt->xee[1], 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57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeususerMuserMode:ode:erMuserMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuseuserMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouseuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserMode::seruserMode:Mode:userMode:useruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userMode:userMode:uuserMode:seuseuserMode:rMode:rMode:useruseruuserMode:seruserModuserMode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MuserMode:ode:userModeuserModuserMode:e:userMode::uuseuseususerMode:erMode:ruserMode:Mode:rModeuserMode::serMode:useuserMode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:useruserMode:Mode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:userModeususerMode:eruserMuserMode:ode:ModuserMode:e::useuuuserMode:serMode:serMode:rModuserMode:e:useruserMode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rModeuserModeuserMode::userMode::uuserModeuserMode::seruserMode:ModeuserMode::useuuserMode:serMode:rMuserMouserMode:de:ode:userMode:useuseruseruserMode:Mode:Mode:rMode:userMode:useruseruserMode:MouserModuserMode:e:de:*rt->jgoal[userMode:2],userMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:Mode:useruseuserMode:rMode:MuserMode:ode:useuserMode:rModeuuserMode:seususerMode:erMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserModeuserMode::userMode::uuseuserMode:rModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userModeuserMode::uuserMode:serMode:useruserModeuseuserMode:rMode::Mode:userModeususerMode:erMode::useususerMode:erMode:userMode:rMouserMode:de:useruserMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserMode:::ModeuserModuserMode:e::userMode:useruserMode:Mode:userModeuserModeuserMode::userMode::uuserModeuserMode::serMode:useuserMuserMode:ode:ruseruuserMode:seuserMode:ruserMode:MouserMode:deuserMode::ModuserMode:e:Mode:userMode:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruserMode:Mode:uuserMode:serMuserMode:ode:useuserMode:rMouseuserMode:rModuserMode:e:de:useruserMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeususerMode:erMode::rususerMode:erMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userModeuserMode:userMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMode:useuserMode:ruserMode:MouserMode:deuserMuserMode:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:de::rMode:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::deuserMode::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userModuserMode:euserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:de:rMuserMode:ode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMouserMode:deuserMuuserMode:serMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:useuserMode:rMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:erMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MoususerMode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserModeuserMode::userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:Mode::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::Mode:useuserMode:rMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inter_org.userMode:cpuuserMode:serModeuseruserMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->userMode:q[4]userMode:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMode:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruserMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruseuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMode:serMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserMode::userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userModeususerMode:erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruserMode:Mode::ususerMode:erMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::userususerMode:erMode:ModeuserMode::userMode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeuseruserMode:ModuserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::ususerMode:euserMode:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userMode:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-userMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuserMode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeuserModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuserMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususerMode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuserMode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruserMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouserMode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuserMode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuserMode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuserMode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruserMode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuserMode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruserMode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuserMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rMode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserMode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:Mode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuserMode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:tuserMode:oruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:userMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:userMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:uuserMode:serMode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:MouserMode:deususerMode:erMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruseruserMode:Mode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuuserMode:serususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:			userMode:	userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:useuserMode:rMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:userMode:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModususerMode:euserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:ususerMode:erususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMouserMode:duseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuuserMode:seruserMode:Mode:seuseruserMuseruserMode:Mode:ouserMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:ususerMode:erMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruseuserMode:rMode:userMuserMode:ode:ususeruuserMode:serMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruseuserMode:rMode:Mode:ode:userModuserMode:e:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuseruserMode:Mode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMouserMode:de:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserModeuserMode:::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:userMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rtuserMode:->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuserMode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suserMode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuserMode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:userMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruserususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuseruserMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuserMode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuserMode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuserMode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userModuserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserModeuserMode::de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserMode::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useususerMode:erModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMuserMode:ode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:userMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:seruserMode:Mode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserModuserMode:e:e:userMode:uuserMode:suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruuserMode:serMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuuserMode:serMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserMode:Mode:eruserMouserMode:de:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:MouserMode:de::userMode:uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruuseruserMode:Mode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:useruserMode:Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserMode:rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuserMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 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57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserMode:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserMode:ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModeuserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModeuserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuserMode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMode:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:serMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMode:useuuserMode:serMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:userModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:eruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMode:teuserMode:r_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserMode:->uuserMode:suserMode:erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:userMode::userMode:userMouserMode:de:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserMode::oduserMode:e:euserModuserMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMode:ode:serMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			/useuserMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: 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rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserMode:userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserMode:de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:oduserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:rMode:de:ModeuserMode::MouserMode:de:uuserMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:seruserModuserMode:e:Mode: 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ruserModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuserModeuserMode::userMode:seruserMode:ModeuserModeuserMode::userMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerMode:eruserMode:MouseuserMode:rMode:duserMode:euserMuserModeuserMode::oduserModeuserMode::e::userModuserMode:e:userMode:userMode:ususerMode:eruuserMode:serMode:ModeuserMode::uuserMode:seruserMode:Mode:userMode:uuserModeuserMode::serMode:userModeuserModeuserMode::ususerMode:erMode::useruserMode:MuseruserMode:Mode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModuserMode:euuserMode:serMode::ModeuuserMode:seuserMode:rMode::userMode:userMouuserModuserMode:e:serMode:de:useruserModeuseuserMode:rMode::Mode:userModuserModuserModeuserMode::e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:userMode:userMode:userMode:uuserModeuserMode:userMode::userMode:seruseruserMode:Mode:ModuserMode:euserMode:userMode::userMuuserMode:serMode:ode:useuserMode:rMode:userMode:userMode:useruserMuserMode:ode:ModeuseuserMode:ruuserMode:serMode:Mode::ususeuserMode:rMode:erMode:userMode:userModuserMode:e:useruserMode:MouserModeuserMode::userMode:de:useuserMode:ruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeususerModeuserModeuserMode:::erMode::userModuserMode:euserMode::userMouserMode:de:userMuserMode:ode:useuserMouserMode:de:rMode:useruserMode:ModeuserMode::useususerMode:erModeuserMode::ruserMode:userMode:Mode:ususerMode:erMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:userMode:riuseruserMode:MuserMouserMode:de:ode:nuserMode:userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xee[1], 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57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeususerMuserMode:ode:erMuserMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuseuserMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouseuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserMode::seruserMode:Mode:userMode:useruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuserMode:rMode:userMode:Mode:userMode:userMode:uuserMode:seuseuserMode:rMode:rMode:useruseruuserMode:seruserModuserMode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MuserMode:ode:userModeuserModuserMode:e:userMode::uuseuseususerMode:erMode:ruserMode:Mode:rModeuserMode::serMode:useuserMode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:useruserMode:Mode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:userModeususerMode:eruserMuserMode:ode:ModuserMode:e::useuuuserMode:serMode:serMode:rModuserMode:e:useruserMode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rModeuserModeuserMode::userMode::uuserModeuserMode::seruserMode:ModeuserMode::useuuserMode:serMode:rMuserMouserMode:de:ode:userMode:useuseruseruserMode:Mode:Mode:rMode:userMode:useruseruserMode:MouserModuserMode:e:de:*rt->jgoal[userMode:2],userMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:Mode:useruseuserMode:rMode:MuserMode:ode:useuserMode:rModeuuserMode:seususerMode:erMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserModeuserMode::userMode::uuseuserMode:rModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userModeuserMode::uuserMode:serMode:useruserModeuseuserMode:rMode::Mode:userModeususerMode:erMode::useususerMode:erMode:userMode:rMouserMode:de:useruserMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserMode:::ModeuserModuserMode:e::userMode:useruserMode:Mode:userModeuserModeuserMode::userMode::uuserModeuserMode::serMode:useuserMuserMode:ode:ruseruuserMode:seuserMode:ruserMode:MouserMode:deuserMode::ModuserMode:e:Mode:userMode:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruserMode:Mode:uuserMode:serMuserMode:ode:useuserMode:rMouseuserMode:rModuserMode:e:de:useruseuserMode:rMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeususerMode:erMode::rususerMode:erMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userModeuserMode:userMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMode:useuserMode:ruserMode:MouserMode:deuserMuserMode:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:de::rMode:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::deuserMode::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userModuserMode:euserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:de:rMuserMode:ode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMouserMode:deuserMuuserMode:serMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:useuserMode:rMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:erMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MoususerMode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserModeuserMode::userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:Mode::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::Mode:useuserMode:rMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.userMode:cpuuserMode:serModeuseruserMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->userMode:q[4]userMode:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMode:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruserMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruseuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMode:serMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserMode::userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userModeususerMode:erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruseuserMode:rMode:Mode::ususerMode:erMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::userususerMode:erMode:ModeuserMode::userMode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeuseruserMode:ModuserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::ususerMode:euserMode:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::ususerMode:eruserMode:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuserMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-userMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:useruserModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuserMode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMode:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:Mode:duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuserMode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususerMode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuserMode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruserMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouserMode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuserMode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuserMode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuserMode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruserMode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuserMode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruserMode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuserMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruserMode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euserMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:Mode::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:tuserMode:oruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:userMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:userMode:e:userMouserMode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:uuserMode:seruserMode:Mode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:MouserMode:deususerMode:erMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruseruserMode:Mode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuuserMode:serususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:			userMode:	userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:useuserMode:rMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:userMode:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModususerMode:euserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:ususerMode:erususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMouserMode:duseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModuserMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuuserMode:seruserMode:Mode:seuseruserMuseruserMode:Mode:oususerMode:erMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:ususerMode:erMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruseuserMode:rMode:userMuserMode:ode:ususeruuserMode:serMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruseuserMode:rMode:Mode:ode:userModuserMode:e:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuseruserMode:Mode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMouserMode:de:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserModeuserMode:::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:userMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rtuserMode:->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserMode:e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuserMode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suserMode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:userMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:userModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruserususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMode:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuserMode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rMode:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuserMode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModeuserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuserMode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uususerMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userMuserMode:oduserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserModeuserMode::de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserMode::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useususerMode:erModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMuserMode:ode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:userMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:seruserMode:Mode:serMode:userModuserModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserModuserMode:e:e:userMode:uuserModeuserMode::suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruuserMode:serMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuuserMode:serMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserMode:Mode:eruserMouserMode:de:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:MouserMode:de::userMode:uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruuseruserMode:Mode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruserMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userMode:ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:useruserMode:Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuserMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57.3*rt->jgoaususerModuserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 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57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserMode:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::userModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserMode:ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModeuserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModeuserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuserMode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:Mode:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userModuserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:serMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euserMode::userMode:userMode:uuserMode:serMode:useuuserMode:serMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususerMode:erModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:eruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMode:teuserMode:r_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserMode:->uuserMode:suserMode:erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:userMode::userMode:userMouserMode:de:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserMode::oduserMode:e:euserModuserMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMode:ode:serMode:userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			/useuserMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: 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rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserMode:userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserMode:de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:oduserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:rMode:de:ModeuserMode::MouserMode:de:uuserMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMode:Mode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:seruserModuserMode:e:Mode: 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ruserModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuserModeuserMode::userMode:seruserMode:ModeuserModeuserMode::userMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerMode:eruserMode:MouseuserMode:rMode:duserMode:euserMuserModeuserMode::oduserModeuserMode::e::userModuserMode:e:userMode:userMode:ususerMode:eruuserMode:serMode:ModeuserMode::uuserMode:seruserMode:Mode:userMode:uuserModeuserMode::serMode:userModeuserModeuserMode::ususerMode:erMode::useruserMode:MuseruserMode:Mode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModuserMode:euuserMode:serMode::ModeuuserMode:seuserMode:rMode::userMode:userMouuserModuserMode:e:serMode:de:useruserModeuseuserMode:rMode::Mode:userModuserModuserModeuserMode::e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:userMode:userMode:userMode:uuserModeuserMode:userMode::userMode:seruseruserMode:Mode:ModuserMode:euserMode:userMode::userMuuserMode:serMode:ode:useuserMode:rMode:userMode:userMode:useruserMuserMode:ode:ModeuseuserMode:ruuserMode:serMode:Mode::ususeuserMode:rMode:erMode:userMode:userModuserMode:e:useruserMode:MouserModeuserMode::userMode:de:useuserMode:ruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeususerModeuserModeuserMode:userMode:::erMode::userModuserMode:euserMode::userMouserMode:de:userMuserMode:ode:useuserMouserMode:de:rMode:useruserMode:ModeuserMode::useususerMode:erModeuserMode::ruserMode:userMode:Mode:ususerMode:erMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:userMode:riuseruserMode:MuserMouserMode:de:ode:nuserMode:userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xee[1], 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57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuserMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuseuserMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouseuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserMode::seruserMode:Mode:userMode:useruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuserMode:rMode:userMode:Mode:userMode:userMode:uuserMode:seuseuserMode:rMode:rMode:useruseruuserMode:seruserModuserMode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MuserMode:ode:userModeuserModuserMode:e:userMode::uuseuseususerMode:erMode:ruserMode:Mode:rModeuserMode::serMode:useuserMode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:useruserMode:Mode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:userModeususerMode:eruserMuserMode:ode:ModuserMode:e::useuuuserMode:serMode:serMode:rModuserMode:e:useruserMode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rModeuserModeuserMode::userMode::uuserModeuserMode::seruserMode:ModeuserMode::useuuserMode:serMode:rMuserMouserMode:de:ode:userMode:useuseruseruserMode:Mode:Mode:rMode:userMode:useruseruserMode:MouserModuserMode:e:de:*rt->jgoal[userMode:2],userMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:Mode:useruseuserMode:rMode:MuserMode:ode:useuserMode:rModeuuserMode:seususerMode:erMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserModeuserMode::userMode::uuseuserMode:rModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userModeuserMode::uuserMode:serMode:useruserModeuseuserMode:rMode::Mode:userModeususerMode:erMode::useususerMode:erMode:userMode:rMouserMode:de:useruserMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserMode:::ModuserMode:euserModuserMode:e::userMode:useruserMode:Mode:userModeuserModeuserMode::userMode::uuserModeuserMode::serMode:useuserMuserMode:ode:ruseruuserMode:seuserMode:ruserMode:MouserMode:deuserMode::ModuserMode:e:Mode:userMode:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruserMode:Mode:uuserMode:serMuserMode:ode:useuserMode:rMouseuserMode:rModuserMode:e:de:useruseuserMode:rMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeususerMode:erMode::rususerMode:erMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userModeuserMode:userMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMode:useuserMode:ruserMode:MouserMode:deuserMuserMode:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:de::rMode:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::deuserMode::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userModuserMode:euserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:de:rMuserMode:ode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMouserMode:deuserMuuserMode:serMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:useuserMode:rMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:erMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MoususerMode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserModeuserMode::userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::Mode:useuserMode:rMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.userMode:cpuuserMode:serModeuseruserMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->userMode:q[4]userMode:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMode:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruserMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruseuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMode:serMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserModuserMode:e::userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userModeususerMode:erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruseuserMode:rMode:Mode::ususerMode:erMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::userususerMode:erMode:ModeuserMode::userMode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeuseruserMode:ModuserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::ususerMode:euserMode:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserMode:Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuseuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-userMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useruseruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:userModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:Mode::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserModuserMode:e::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuserMode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususerMode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuserMode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruserMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouserMode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuserMode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuserMode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuserMode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruserMode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuserMode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruserMode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:Mode:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuserMuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userMode:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:tuserMode:oruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:userMode:esuserMouserMode:de:userMode:ususerModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:userMode:e:userMouserMuserMode:ode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:uuserMode:seruserMode:Mode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:MouserMode:deususerMode:erMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruseruserMode:Mode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuuserMode:serususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:			userMode:	userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:useuserMode:rMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:userMode:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModususerMode:euserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:ususerMode:erususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:usususerMode:erModuserMode:e:erModeuserMode::userMode:useruserModeuserModuseruserMouserMode:duseruserMode:Mode:e:Mode:e::ModuserMode:e:userMouserModususerMode:erMode:e:deuserMode::userMode:ususerModuserMode:e:erModeuserMode::userMode:userMode:userMode:uuuserMode:seruserMode:Mode:seuseruserMuseruserMode:Mode:oususerMode:erMode:de:Mode:rususerMode:erMode:Mode:ususerMouserMode:duserMode:e:erMode:userModeuserMode::userMode:ususerMode:erMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerModuserMode:e:eruseruserMode:Mode::main.cpp:		ruseuserMode:rMode:userMuserMode:ode:ususeruuserMode:serMode:Mode:erMode:userMode:useruseuserMode:ruserMuseruserMode:Mode:ode:ModeuserModuserMode:e::Mode:userMode:userMuseruseuserMode:rMode:Mode:ode:userModuserMode:e:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useuserModuseuseruserMode:Mode:rMode:e:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:ususeruserMode:Mode:erMode:userMode:userModuserMode:euserMode::useususerMode:erModuserMode:e:ruseruserMode:ModeuserMode::ModuserMode:e:useruserMode:Mode:userMode:userMode:ususeruseuserMode:rMode:Mode:erMode:userMode:userModuserModuserMode:e:euserMode::useuserModuserMode:e:rMode:useuseruserMode:Mode:rMode:useruseruserMode:Mode:userMode:Mode:userMode:ususeruserMode:Mode:erMode:userMode:userMuserMode:ode:userModuserMode:euserMode::useuserModuserMouserMode:de:e:rMode:useuserMode:rMode:userMode:useruserMode:useruserMode:Mode:Mode:ususeruserModeuserMode::Mode:erMode:userMode:userMode:userModuserMode:euserModeuserMode:::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMode:useruuserMode:serModususeruserMode:Mode:eruserMode:Mode:e:Mode:userMode:userModuserMode:userMode:euuserMode:serMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:meuseruserMode:Mode: =useruserMode:Mode:userMode: rtuserMode:->userMode:userModuserMode:euserMode::useuserModuserMode:e:rMode:useuserMode:rMode:userMode:userMuserMode:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuserMode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:userMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:e:Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruserususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuserMode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servo louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuserMode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerMode:erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuserMode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:rMode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uusususerMode:erMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userMuserMode:oduserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserModeuserMode::de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserMode::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useususerMode:erModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMuserMode:ode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:userMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:seruserMode:Mode:serMode:userModususerMode:erModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserModuserMode:e:e:userMode:uuserModeuserMode::suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruuserMode:serMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuuserMode:serMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserMode:Mode:eruserMouserMode:de:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:MouserMode:de::userMode:uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruuseruserMode:Mode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruseruseruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:useruserMode:Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuserMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserMode:MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, 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57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:userMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserMode:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserMode:ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModeuserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModeuserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuserMode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userModuserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:serMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuserMode:serMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususerMode:erModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:eruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMode:teuserMode:r_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserMode:->uuserMode:suserMode:erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:userMode::userMode:userMouserMode:de:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuserMode:::oduserMode:e:euserModuserMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMode:ode:serMode:userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			/useuserMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: 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57.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuserMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMode:useruserModuseuserMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouseuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserMode::seruserMode:Mode:userMode:useruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuserMode:rMode:userMode:Mode:userMode:userMode:uuserMode:seuseuserMode:rMode:rMode:useruseruuserMode:seruserModuserMode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:useruserMode:MuserMode:ode:userModeuserModuserMode:e:userMode::uuseuseususerMode:erMode:ruserMode:Mode:rModeuserMode::serMode:useuserMode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:Mode:useruserMode:Mode:ususerMode:erModuserMode:e:userModeuseruserMode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:userModeususerMode:eruserMuserMode:ode:ModuserMode:e::useuuuserMode:serMode:serMode:rModuserMode:e:useruserMode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rModeuserModeuserMode::userMode::uuserModeuserMode::seruserMode:ModeuserMode::useuuserMode:serMode:rMuserMouserMode:de:ode:userMode:useuseruseruserMode:Mode:Mode:rMode:userMode:useruseruserMode:MouserModuserMode:e:de:*rt->jgoal[userMode:2],userMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:Mode:useruseuserMode:rMode:MuserMode:ode:useuserMode:rModeuuserMode:seususerMode:erMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuserMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:Mode:e:userMode:userModeuserMode::uuserMode:serMode:useruserModeuseuserMode:rMode::Mode:userModeususerMode:erMode::useususerMode:erMode:userMode:rMouserMode:de:useruserMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserMode:::ModuserMode:euserModuserMode:e::userMode:useruserMode:Mode:userModeuserModeuserMode::userMode::uuserModeuserMode::serMode:useuserMuserMode:ode:ruseruuserMode:seuserMode:ruserMode:MouserMode:deuserMode::ModuserMode:e:Mode:userMode:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruserMode:Mode:uuserMode:serMuserMode:ode:useuserMode:rMouseuserMode:rModuserMode:e:de:useruseuserMode:rMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeususerMode:erMode::rususerMode:erMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userModeuserMode:userMode::7.3*rt->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMode:useuserMode:ruserMode:MouserMode:deuserMuserMode:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:de::rMode:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::deuserMode::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userModuserMode:euserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:de:rMuserMode:ode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMouserMode:deuserMuuserMode:serMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:useuserMode:rMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3userMode:*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:erMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MoususerMode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserModeuserMode::userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ode:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::Mode:useuserMode:rMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.userMode:cpuuserMode:serModeuseruserMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->userMode:q[4]userMode:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMode:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruserMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruseuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserMode:Mode:[4]);userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMuserMode:ode:serMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserModuserMode:e::userMode:useruseruserModuserMode:e:Mode:MuserMode:ode:userModeususerMode:erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruseuserMode:rMode:Mode::ususerMode:erMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::userususerMode:erMode:ModeuserMode::userMode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeuseruserMode:ModuserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::ususerMode:euserModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuseuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-userMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuserMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:useruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seuserMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:ModuserMode:e::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserModuserMode:e::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMode:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuserMode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususerMode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuserMode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruserMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouserMode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuserMode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuserMode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuserMode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruserMode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuserMode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruserMode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserModeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::ususerMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:tuserMode:oruseruserMode:Mode:quuuserMode:serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:userMode:esuserMouserMode:de:userMode:ususerMode:userModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:userMode:e:userMouserMuserMode:ode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:uuserMode:seruserMode:Mode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:MouserMode:deususerMode:erMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruseruserMode:Mode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuuserMode:serususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:			userMode:	userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:useuserMode:rMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:userMode:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModususerMode:euserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:ususerMode:erususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMode:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:userMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMuseuserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruserususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserMode:userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuserMode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuserMode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuserMode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:ruserMode:Mode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uusususerMode:erMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userMuserMode:oduserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserModeuserMode::de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserMode::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useususerMode:erModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMuserMode:ode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:userMode:odeuseuuserMode:serMode:rMode::userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userMode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:seruserMode:Mode:serMode:userModususerMode:erModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserModuserMode:e:e:userMode:uuserModeuserMode::suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruuserMode:serMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuuserMode:serMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserMode:Mode:eruserMouserMode:de:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:MouserMode:de::userMode:uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:ususerMode:erModeuseruserMode:Mode::useruuseruserMode:Mode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruserMode:useruseruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserMode:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:useruserMode:Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuserMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuserMode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModususerMode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: 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5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerMode:eruserMode:ModuserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::ususerMode:euserModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:				5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuseuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::useruserMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-userMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruserMode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruserMode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuserMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserMode:::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userMode:>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::userMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:ModuserMode:e::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserModuserMode:e::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuserMode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususerMode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuserMode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruserMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouserMode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuserMode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuserMode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuserMode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruserMode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuserMode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruserMode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::Mode:userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uuserMode:serMode)userMode:useruserMouserMode:de:Mode:;	useruserMode:Mode:		// suserMode:et load userMode:tuserMode:oruseruserMode:Mode:quuuserModeuserMode::serMode:e userMode:commuuserMode:serMode:auseuserMuserMode:ode:rMode:nuseruserMode:Mode:d to duserMode:userMode:esuserMouserMode:de:userMode:ususerMode:userModuseruserMode:Mode:e:euserMode:rModeuserMode::userMode:useuserMode:rMode:uuseruseuserMode:rMode:Mode:serModuserMode:userMode:e:userMouserMuserMode:ode:de:userMode:useruseruseuserMode:rMode:Mode:userMode:Mode:useuserMode:rMode:useuserMode:rMode:uuseruserMode:Mode:serModuserMode:uuserMode:seruserMode:Mode:e:userMode:userMouserMode:deuserMode::ususerMode:erMode:userMode:userMode:useuuserMode:serMode:userMode:rMode:uuseruserMode:MouserMode:deususerMode:erMode::serModuserMode:euserMode:userModuserMode:e::userMode:ususerMode:eruserMode:Mode:userMode:useuserMode:rModeuuseruserMode:Mode:sususeruseruserMode:Mode:Mode:eruserMode:Mode:erModeuserMode:::userMouserMode:deuserMode::userMode:ususerMode:eruserMode:Mode:userModeuuserMode:seruserMode:Mode::uuuserMode:serususerMode:erModeuserMode::Mode:seuserMode:rModuserMode:e:userMouserMode:de:userMode:ususerMouserMode:de:eruserMuserMode:ode:://	userMode:			userMode:	userMode:if(ruserMode:t-uuseruserMode:Mode:serModuserMouserMode:de:e:useuserMode:rMouserMode:de:userMode:ususerModuserMode:e:erModeuserMode:useuserMode:rMode::useruserModeuseruserMode:Mode::Mode:uuseruserMode:Mode:serModuserMode:e:userMouserModuserMode:e:de:useuserMode:rMode:ususerModuserMode:e:userMode:erModeuserMode::userModeuserMode::useuseruserMode:Mode:ruserMouseruserMode:Mode:de:ModuserMouserMode:de:e:userMouserMode:de:userMode:ususerModususerMode:euserMode:rMode:e:erModeuserMode::userMode:useuserMode:rModuserMode:euserMode::uuseruserModeuserMode::Mode:seruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerModuserMode:e:erModeuseruserMode:Mode::userMode:useuserMode:ruseuserMode:rMode:Mode:uuseruseuserMode:rMode:Mode:serModuserMode:e:ususerMode:erususerMode:erMode::userMouserModuserMode:e:de:useuserMode:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:			// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:userMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:userMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruserususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuserMode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususerMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuserMode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuserMode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serMode:de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:ruserMode:Mode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uusususerMode:erMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userMuserMode:oduserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserModeuserMode::de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserMode::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useususerMode:erModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMuserMode:ode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:userMode:odeuseuuserMode:serMode:rMode::userMode:userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userMode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:seruserMode:Mode:serMode:userModususerMode:erModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserModuserMode:e:e:userMode:uuserModeuserMode::suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruuserMode:serMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuuserMode:serMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserMode:Mode:eruserMouserMode:de:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:ModeuseruserMode:MouserMode:de::userMode:uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:usususerMode:erMode:erModeuseruserMode:Mode::useruuseruserMode:Mode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruserMode:useruseruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:ode:useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserModuserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:useruserMode:Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuserMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModususerMode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: userModeuserMode::57.3*rt->jguserMode:ouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModeuserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:userMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuserMode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModuserMode:euserMode::ususeruserMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserMode:r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::userMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserMode:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserMode:ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModeuserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuserMode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userModuserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:useruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuserMode:serMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususerMode:erModuserMode:e:userModeuserMode::userMode:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:eruserModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMode:teuserMode:r_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserMode:erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMode:userMouserMode:de:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuserMode:::oduserMode:e:euserModuserMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMode:ode:serMode:userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			/useuserMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:erMode:useruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserMode:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMouserMode:de:erMode:userususerMode:erMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:useruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:userMode:userMode:useruseruseruserMode:Mode:MuserMode:ouserMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMode:ruseruserMode:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:ususerMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserMode:Mode::rMode:ode:userMode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	uuserMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:userModeuseuuserMode:serMode:rMuserMouserMode:de:ode::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userModuserMode:e:uuserMuserMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuseruserMode:Mode:ruserMouseuserMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserMode:userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserMode:de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:oduserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:rMode:de:ModeuserMode::MouserMode:de:uuserMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:seruserModuserMode:e:Mode: rt->F[2useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModeuserModuserMode:e::userMode:uuserMode:serMode:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:userMouseuseruserMode:ModeuserMode::rMode:deuserMode::userMode:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModuserMuserMode:ode:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rMode:deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userModeususerMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:userMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode::userMouseuseruserMode:Mode:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuserMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuseruserMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuserMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deuserMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:rMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMouserModuserMode:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:Mode:userModeuserModeuserMode:::0],userMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:uuserMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuserMode:euserMode::ususerMode:erMouserMode:de:uuserMode:serModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruserMode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:odeuserMode::ususerMode:euserMode:rMode:userMouserMode:de:useruserMode:Mode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuseruseruserMode:Mode:Mode:userMode:e:uuserMode:serModeuserMode::userMode:userMode:uuserMode:suserMode:eruseuserMouserMode:de:rMode:Mode:useususerMode:erMode:userMode:rMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMuserMode:oususerMode:erMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userMode:userModeuseuseruserMode:Mode:rMode::userMode:uuserMode:serMususeuserMode:rMode:erMode:oduserMode:e:useruseruserMode:Mode:MuserMode:ode:ususerMode:erMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:userMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuserMode:seruserMode:ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:MouserMode:de:oduserModeuserMode::e:MouserMode:de:uuserMode:serMode:useruseruserMouserMode:de:Mode:ModuserMode:e:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:userMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seususerMode:erMuserMode:ode:ruserMouserMode:de:MouserMode:de:ususerModeuuserMode:serMode::erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:MouserMode:de:userMode:useruseruserModeuserMode::Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rModeuserMode::Mode:useuserMode:rMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:userMode:uususeuserMode:rModuseruseruserMode:Mode:userMode:ModuseuserMode:rMode:e:e:erMode:seruserMode:				rt-userMode:>force[useruserMode:Mode:1], rt->fuserususerMode:erMode:Mode:orce[2]userMode:)userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useuserModuserMode:e:ruserModeuserMode::Mode:userMuseruserMode:Mode:odeuserModuserMode:e::userMode:uuserMode:seruserModuserMode:e:Mode:useuserMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::uuserMode:serMode:useruuseruserMode:Mode:serMuserMode:ode:ModuserMode:e:useuseuserMode:rMode:rModeuseruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:ode:userModeuseruserMode:Mode::userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuserMode:rMode:ModeuserMode::userModeuseuseruserModeuseruserMode:Mode::ModeuserMode::rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuserMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:Mode:serMode:Mode:MouserModeuseruserMode:Mode::duserMode:userMode:e:userModeususerMode:erModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouuserMode:serModeuserMode::de::uuserMode:serMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::Mode:userMode:useruserMode:ModeuserMode:userMode::uuserMode:seruuseruserMode:Mode:serMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:serusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuseruserMode:Mode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::userMode:ode: 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ruserModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuserModeuserMode::userMode:seruserMode:ModeuserModeuserMode::userMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerMode:eruserMode:MouseuserMode:rMode:duuserMode:serMode:euserMuserModeuserMode::oduserModeuserMode::e::userModuserMode:e:userMode:userMode:ususerMode:eruuserMode:serMode:ModeuserMode::uuserMode:seruserMode:Mode:userMode:uuserModeuserMode::serMode:userModeuserModeuserMode::ususerMode:erMode::useruserMode:MuseruserMode:Mode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModuserMouserMode:de:euuserMode:serMode::ModeuuserMode:seuserMode:rMode::userMode:userMouuserModuserMode:e:serMode:de:useruserModeuseuserMode:rMode::Mode:userModuserModuserModeuserMode::e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:userMode:userMode:userMode:uuserModeuserMode:userMode::userMode:seruseruserMode:Mode:ModuserMode:euserMode:userMode::userMuuserMode:serMode:odeuserMode::useuserMode:rMode:userMode:userMode:useruserMuserMode:ode:ModeuseuserMode:ruuserMode:serMode:Mode::ususeuserMode:rMode:erMode:userMode:userModuserMode:e:useruserMode:MouserModeuserMode::userMode:de:useuserMode:ruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeususerModeuserModeuserMode:userMode:::erMode::userModuserMode:euserMode::userMouserMode:de:userMuserMode:ode:useuserMouserMode:de:rMode:useruserMode:ModeuserMode::useususerMode:erModeuserMode::ruserMode:userMode:Mode:ususerMode:erMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:userMode:riuseruserMode:MuserMouserMode:de:ode:nuserMode:userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xee[1], 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57userMode:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMode:useuserMode:ruserMode:MouserMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:de::rMode:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::deuserMode::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userModuserMode:euserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMouserMode:deuserMuuserMode:serMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:useuserMode:rMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3userMode:*rt->q[0], 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5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerMode:eruserMode:ModuserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::ususerMode:euserModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuseuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-userMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruserMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuserMode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserMode:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruserModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::userMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:ModuserMode:e::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserModuserMode:e::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuserModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuserMode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususerMode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuserMode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruserMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouserMode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuserMode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuserMode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuserMode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruserMode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuserMode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruserMode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:ode:userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erMode:uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode:userMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserMode:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruserMode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:userMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserMode:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuserMode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMode:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuserMode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserMode:serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMode:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuserMode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:ruserMode:Mode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uusususerMode:erMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userMuserMode:oduserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserModeuserMode::de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserMode::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useususerMode:erModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMuserMode:ode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserMode:serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuseuserMode:ruserMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:userMode:odeuseuuserMode:serMode:rMode::userMode:userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userMode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:seruserMode:Mode:serMode:userModususerMode:erModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserModuserMode:e:e:userMode:uuserModeuserMode::suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruuserMode:serMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuuserMode:serMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserMode:Mode:eruserMouserMode:de:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:userMode:ModeuseruserMode:MouserMode:de::userMode:uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:usususerMode:erMode:erModeuseruserMode:Mode::useruuseruserMode:Mode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruserMode:useruseruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:ode:userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserModuserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:useruserMode:Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModususerMode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModeuserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:userMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuserMode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModuserMode:euserMode::ususeruserMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserMode:r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>jgouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::ususerMode:erMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserMode:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userMode:ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModeuserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuserMode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userModuserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::userMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], 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rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserMode:erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMode:userMouserMode:de:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuserMode:::oduserMode:e:euserModuserMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMode:ode:serMode:userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:pruserMode:inter_org.cpp:			/useuserMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], 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ruseruserMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuserModeuserMode::userMode:seruserMode:ModeuserModeuserMode::userMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerMode:eruserMode:MouseuserMode:rMode:duuserMode:serMode:euserMuserModeuserMode::oduserModeuserMode::e::userModuserMode:e:userMode:userMode:ususerMode:eruuserMode:serMode:ModeuserMode::uuserMode:seruserMode:Mode:userMode:uuserModeuserMode::serMode:userModeuserModeuserMode::ususerMode:erMode::useruserMode:MuseruserMode:Mode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModuserMouserMode:de:euuserMode:serMode::ModeuuserMode:seuserMode:rMode::userMode:userMouuserModuserMode:e:serMode:de:useruserModeuseuserMode:rMode::Mode:userModuserModuserModeuserMode::e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:userMode:userMode:userMode:uuserModeuserMode:userMode::userMode:seruseruserMode:Mode:ModuserMode:euserMode:userMode::userMuuserMode:serMode:odeuserMode::useuserMode:rMode:userMode:userMode:useruserMuserMode:ode:ModeuseuserMode:ruuserMode:serMode:Mode::ususeuserMode:rMode:erMode:userMode:userModuserMode:e:useruserMode:MouserModeuserMode::userMode:de:useuserMode:ruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeususerModeuserModeuserMode:userMode:::erMode::userModuserMode:euserMode::userMouserMode:de:userMuserMode:ode:useuserMouserMode:de:rMode:useruserMode:ModeuserMode::useususerMode:erModeuserMode::ruserMode:userMode:Mode:ususerMode:erMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:userMode:riuseruserMode:MuserMouserMode:de:ode:nuserMode:userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xee[1], 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5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerMode:eruserMode:ModuserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::ususerMode:euserModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:Mode::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuseuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-userMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userMode:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserMode:ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuserMode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goauserModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseuserMode:ruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::userMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:ModuserMode:e::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserModuserMode:e::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuserMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuserMode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususerMode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuserMode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruserMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouserMode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuserMode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuserMode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuserMode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruserMode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuserMode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruserMode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserMode:rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erModeuserMode::uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode:userMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->muserMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserMode:rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:userMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:userMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuserususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuserMode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuserMode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuserMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuserMode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMuserMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerMode:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuserMode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useuserMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:userMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:ruserMode:Mode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uusususerMode:erMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userMuserMode:oduserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserModeuserMode::de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserMode::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useususerMode:erModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserM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rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:seruserMode:Mode:serMode:userModususerMode:erModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserModuserMode:e:e:userMode:uuserModeuserMode::suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruuserMode:serMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuuserMode:serMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserModeuserMode::Mode:eruserMouserMode:de:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:userMode:ModeuseruserMode:MouserMode:de::userMode:uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:usususerMode:erMode:erModeuseruserMode:Mode::useruuseruserMode:Mode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruserMode:useruseruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duserMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserModuserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:useruserMode:Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::userMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserMode::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModeuserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:userMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuserMode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModuserMode:euserMode::ususeruserMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::userMode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserMode:r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::ususerMode:erMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserMode:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModeuserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuserMode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userModuserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:userMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], 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5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerMode:eruserMode:ModuserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::ususerMode:euserModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:MouserMode:de::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuseuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-userMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rMode:userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:userModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->userMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:userMode:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseuserMode:ruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::userMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:ModuserMode:e::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserModuserMode:e::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruseruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuserMode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususerMode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuserMode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruserMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouserMode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuserMode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuserMode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuserMode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruserMode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuserMode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruserMode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rMode:userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMuserMode:ode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erModeuserMode::uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode:userMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:and(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouserMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserModeuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:userMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::seruserMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuserMode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuserMode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuserMode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuserMode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuserMode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userModeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useususerMode:erMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:userMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:ruserMode:Mode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uusususerMode:erMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userMuserMode:oduserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserModeuserMode::de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserMode::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useususerMode:erModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::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rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:seruserMode:Mode:serMode:userModususerMode:erModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserModuserMode:e:e:userMode:uuserModeuserMode::suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruuserMode:serMode:ModeuseuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuuseruserMode:Mode:serMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserModeuserMode::Mode:eruserMouserMode:de:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:userMode:ModeuseruserMode:MouserMode:de::userMode:uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:usususerMode:erMode:erModeuseruserMode:Mode::useruuseruserMode:Mode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruserMode:useruseruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMode:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserModuserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:useruserMode:Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:erModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:de:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModeuserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:userMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuserMode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModuserMode:euserMode::ususeruserMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuserMode:e:userModeuserMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserMode:r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::ususerMode:erMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserMode:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuserMode:e:userMouseruserMode:ModeuserMode::de:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModeuserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuserMode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userModuserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuserMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], 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rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserMode:erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMode:userMouserMode:de:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuserMode:::oduserMode:e:euserModuserMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMode:ode:serMode:userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:userMode:pruserMode:inter_org.cpp:			/useuserMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], 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5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerMode:eruserMode:ModuserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::ususerMode:eususerMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:MouserMode:de::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:ode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuseuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-userMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuserMode:rModuserMode:e:userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:userModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserMode:Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeuseruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuserMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserMode::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:userMode:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseuserMode:ruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::userMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:ModuserMode:e::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserModuserMode:e::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserMode:de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuserMode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususerMode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuserMode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruserMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouserMode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuserMode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuserMode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuserMode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruserMode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuserMode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMuserMode:ode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erModeuserMode::uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode:userMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseuserMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:de:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:serModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeuseruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:userMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuserMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususerMode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuserMode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuserMode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuserMode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruseruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuserMode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuseruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuseruseuserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuserMode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useususerMode:erMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:userMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:ruserMode:Mode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uusususerMode:erMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userMuserMode:oduserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserModeuserMode::de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserMode::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useususerMode:erModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMuserMode:ode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserModeuserMode::serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuseuserMode:rususerMode:erMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:userMode:odeuseuuserMode:serMode:rMode::userMode:userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userMode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:seruserMode:Mode:serMode:userModususerMode:erModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserModuserMode:e:e:userMode:uuserModeuserMode::suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userMode:userModuserMode:euserMode::uuserMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruuserMode:serMode:ModeuuserMode:seuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuuseruserMode:Mode:serMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserModeuserMode::Mode:eruserMouserMode:de:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:userMode:ModeuseruserMode:MouserMode:de::userMode:uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:usususerMode:erMode:erModeuseruserMode:Mode::useruuseruserMode:Mode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruserMode:useruseruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserMode:de:ModeuserMode::userMouserMode:de:useuuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMouserMode:de:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserModuserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:useruserMode:Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModeuserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:userMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuserMode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:useuserMode:rModuserMode:euserMode::ususeruserMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserMode:r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::ususerMode:erMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserMode:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuserMode:e:userMouseruserMode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModeuserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuserMode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:seruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userModuserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], 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rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserMode:erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMode:userMouserMode:de:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuserMode:::oduserMode:e:euserModuserMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serMode:userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:userMode:pruserMode:inter_org.cpp:			/useuserMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:euserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserModuserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: 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ruseruserMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuserModeuserMode::userMode:seruserMode:ModeuserModeuserMode::userMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuseuserMode:rMode:rMode:userMode:useruserMode:ModeuserMode::userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerMode:eruserMode:MouseuserMode:rMode:duuserMode:serMode:euserMuserModeuserMode::oduserModeuserMode::e::userModuserMode:e:userMode:userMode:ususerMode:eruuserMode:serMode:ModeuserMode::uuserMode:seruserMode:Mode:userMode:uuserModeuserMode::serMode:userModeuserModeuserMode::ususerMode:erMode::useruserMode:MuseruserMode:Mode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModuserMouserMode:de:euuserMode:serMode::ModeuuserMode:seuserMode:rMode::userMode:userMouuserModuserMode:e:serMode:de:useruserModeuseuserMode:rMode::Mode:userModuserModuserModeuserMode::e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:useuserMode:rMode:userMode:userMode:uuserModeuserMode:userMode::userMode:seruseruserMode:Mode:ModuserMode:euserMode:userMode::userMuuserMode:serMode:odeuserMode::useuserMode:rMode:userMode:userMode:useruserMuserMode:ode:ModeuseuserMode:ruuserMode:serMode:Mode::ususeuserMode:rMode:erMode:userMode:userModuserMode:e:useruserMode:MouserModeuserMode::userMode:de:useuserMode:userMode:ruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:userMode:userMode:uuserMode:seruserMode:ModeususerModeuserModeuserMode:userMode:::erMode::userModuserMode:euserMode::userMouserMode:de:userMuserMode:ode:useuserMouserMode:de:rMode:useruserMode:ModeuserMode::useususerMode:erModeuserMode::ruserMode:userMode:Mode:ususerMode:euserMode:rMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:userMode:riuseruserMode:MuserMouserMode:de:ode:nuserMode:userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xee[1], 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57userMode:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMode:useuserMode:ruserMode:MouserMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:de::rMode:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::deuserMode::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userModuserMode:euserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModeuserMode:::Mode:userMode:useuserMode:rMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3userMode:*rt->q[0], 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5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerMode:erususerMode:erMode:ModuserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::ususerMode:eususerMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:MouserMode:de::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMode:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuseuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-userMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserMode::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::useuserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMode:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserMode:rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserMode::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserModuserMode:e::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:userMode:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseuserMode:ruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::userMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:ModuserMode:e::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserModuserMode:e::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMode:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuserMode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususerMode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuserMode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruserMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouserMode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuserMode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuserMode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuserMode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruserMode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuserMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMuserMode:ode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erModeuserMode::uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode:userMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:userMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseususerMode:erMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruserMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:rMode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:userMode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususerMode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuserMode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuserMode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuserMode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uususerMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuserMode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuserMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuseruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuserMode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useususerMode:erMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:userMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:ruserMode:Mode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uusususerMode:erMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userMuserMode:oduserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouserMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserModeuserMode::de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserModeuserMode:::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useususerMode:erModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMuserMode:ode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserModeuserMode::serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuseuserMode:rususerMode:erMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:userMode:odeuseuuserMode:serMode:rMode::userMode:userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userMode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:seruserMode:Mode:serMode:userModususerMode:erModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserModuserMode:e:e:userMode:uuserModeuserMode::suserMode:erMode:userMuseuserMode:rMode:oduserMode:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userMode:userModuserMode:euserMode::uuseuserMode:rMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruuserMode:serMode:ModeuuserMode:seuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuuseruserMode:Mode:serMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserModeuserMode::Mode:eruserMouserMode:de:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:userMode:ModeuseruserMode:MouserMode:de::userMode:uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:usususerMode:erMode:erModeuseruserMode:Mode::useruuseruserMode:Mode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruserMode:useruseruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuserMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMouserMode:de:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserModuserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:useruserMode:Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMode:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModeuserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:userMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuserMode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserMode:r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::ususerMode:erMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserMode:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:userMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuserMode:e:userMouseruserMode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModeuserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuserMode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserMode:rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userModuserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:ModuserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuserMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususerMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserMode:erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMode:userMouserMode:de:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuserMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serMode:userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:userMode:pruserMode:inter_org.cpp:			/useuserMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:euserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserModuserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMouserMode:de:erMode:userususerMode:erMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:ModuserMode:e:useuserMode:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouserMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMode:ruseruserMode:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:suserMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserMode:Mode::rMode:ode:userMode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:userModeuseuuserMode:serMode:rMuserMouserMode:de:ode::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userModuserMode:e:uuserMuserMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuseruserMode:Mode:ruserMouseuserMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserMode:de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuserMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMode:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:seruserModuserMode:e:Mode: 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5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerMode:erususerMode:erMode:ModuserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::ususerMode:eususerMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:MouserMode:de::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuseuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeuserModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-userMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModeuserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserMode::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rMode:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:userModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuserMode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserModuserMode:e::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserModuserMode:e::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:userMode:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseuserMode:ruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::userMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:ModuserMode:e::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserModuserMode:e::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:userMode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuserMode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususerMode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuserMode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruserMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouserMode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuserMode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuserMode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuserMode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMuserMode:ode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erModeuserMode::uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode:userMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMode:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:useuserMode:rMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseususerMode:erMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuserMode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuserMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususerMode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuserMode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuserMode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuserMode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:userMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuserMode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:rMode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuseruserMode:Mode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useususerMode:erMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:userMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:ruserMode:Mode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uusususerMode:erMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userMuserMode:oduserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouseuserMode:rMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserModeuserMode::de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserModeuserMode:::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useususerMode:erModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMuserMode:ode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserModeuserMode::serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuseuserMode:rususerMode:erMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:userMode:odeuseuuserMode:serMode:rMode::userMode:userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userMode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:seruserMode:Mode:serMode:userModususerMode:erModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:rMode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserModuserMode:e:e:userMode:uuserModeuserMode::suserMode:erMode:userMuseuserMode:rMode:oduserMouserMode:de:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userMode:userModuserMode:euserMode::uuseuserMode:rMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruuserMode:serMode:ModeuuserMode:seuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuuseruserMode:Mode:serMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserModeuserMode::Mode:eruserMouserMode:de:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:userMode:ModeuseruserMode:MouserMode:de::userMode:uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:usususerMode:erMode:erModeuseruserMode:Mode::useruuseruserMode:Mode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruserMode:useruseruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuseruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMouserMode:de:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserModuserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserMode:Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:serMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModeuserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:userMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserMode:r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::ususerMode:erMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserMode:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:userMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuserMode:e:userMouseruserMode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModeuserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuserMode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userModuserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:						userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuserMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususerMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserMode:erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuserMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serMode:userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:userMode:pruserMode:inter_org.cpp:			/useuserMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:euserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserModuserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForususerMouserMode:de:erMode:userususerMode:erMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:ModuseuserMode:rMode:e:useuserMode:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouserMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMode:ruseruserMode:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:suserMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserMode:Mode::rMode:ode:userMode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:userModeuseuuserMode:serMode:rMuserMouserMode:de:ode::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userModuserMode:e:uuserMuserMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuseruserMode:Mode:ruserMouseuserMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserMode:de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuserMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:seruserModuserMode:e:Mode: rt->F[2useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModeuserModuserMode:e::userMode:uuserMode:serMode:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:ModeuserMode::rMode:deuserMode::userMode:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModuserMuserMode:ode:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserModuserMode:e:Mode:uuserMode:serMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rMode:deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:userMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode::userMouseuseruserMode:Mode:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMode:userMode:userModuseruserMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuserMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:rMode:Mode:userMode:userModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMouserModuserMode:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:uuserMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuserMode:euserMode::ususerMode:erMouserMode:de:uuserMode:serModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruserMode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:odeuserMode::ususerMode:euserMouserMode:de:rMode:userMouserMode:de:useruserMode:Mode:userMouserMode:de:userMode:useruseruserMode:Mode:Mode:userMuserMode:ode:userModuseruseruserMode:Mode:Mode:userMode:e:uuserMode:serModeuserMode::userMode:userMode:uuserMode:suserMode:eruseuserMouserMode:de:rMode:Mode:useususerMode:erMode:userMode:rMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMuserMode:oususerMode:erMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userMode:userModeuseuseruserMode:Mode:rMode::userMode:uuserMode:serMususeuserMode:rMode:erMode:oduserMode:e:useruseruserMode:Mode:MuserMode:ode:ususerMode:erMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:userMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuserMode:seruserMode:ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:MouserMode:de:oduserModeuserMode::e:MouserMode:de:uuserMode:serMode:useruseruserMouserMode:de:Mode:ModususerMode:erMode:e:userMususerMode:erMode:odeuserMode::useruserModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:userMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seususerMode:erMuserMode:ode:ruserMouserMode:de:MouserMode:de:ususerModeuuserMode:serMode::erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:MouserModuserMode:e:de:userMode:useruseruserModeuserMode::Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rModeuserMode::Mode:useuserMode:rMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:userMode:uususeuserMode:rModuseruseruserMode:Mode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMode:>force[useruserMode:Mode:1], rt->fuserususerMode:erMode:Mode:orce[2]userMode:)userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useuserModuserMode:e:ruserModeuserMode::Mode:userMuseruserMode:Mode:odeuserMuserMode:oduserMode:e::userMode:uuserMode:seruserModuserMode:e:Mode:useuserMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::uuserMode:serMode:useruuseruseruserMode:Mode:Mode:serMuserMode:ode:ModuserMode:e:useuseuserMode:rMode:rModeuseruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:ode:userModeuseruserMode:Mode::userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuserMode:rMode:ModeuserMode::userModeuseususerMode:eruserModeuseruserMode:Mode::ModeuserMode::rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuserMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:userMode:Mode:serMode:Mode:MouserModeuseruserMode:Mode::duserMode:userMode:e:userModeususerMode:erModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouuserMode:serModeuserMode::de::uuserMode:serMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode:userMode::uuserMode:seruuseruserMode:Mode:serMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:serusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuseruserMode:Mode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::userMode:ode: 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57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:rMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MoususerMode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserModeuserMode::userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:userMode:userModeuserMode::userMode:useruserMode:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::Mode:useuserMode:rMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.userMode:cpuuserMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 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5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerMode:erususerMode:erMode:ModuserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::ususerMode:eususerMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserModuserMode:e:MouserMode:de::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserMode::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuseuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-userMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuserMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::Mode:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:Mode:rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->qgoauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[useruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:userMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModuserMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMuserMode:ode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserModuserMode:e::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserModuserMode:e::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:userMode:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseuserMode:ruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::userMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:ModuserMode:e::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserModuserMode:e::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuserModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuserMode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususerMode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuserMode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruserMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouserMode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuserMode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuserMode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruserMode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserMode:rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMuserMode:ode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erModeuserMode::uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode:userMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::ususerMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMouserMode:de:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:useuserMode:rMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseususerMode:erMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userMode:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:Mode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserMode:rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuserMode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:useuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModuserMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususerMode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuserMode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuserMode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuserMode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserMode:rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:rMode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruserMode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:deuserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userModuuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMuserMode:ouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuseruserMode:Mode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useususerMode:erMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:userMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:ruserMode:Mode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uusususerMode:erMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userMuserMode:oduserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouseuserMode:rMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserModeuserMode::de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserModeuserMode:::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useususerMode:erModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMuserMode:ode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserModeuserMode::serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuseuserMode:rususerMode:erMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:userMode:odeuseuuserMode:serMode:rMode::userMode:userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userMode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:xee[0userMode:userMode:useuseuserMode:rMouuserMode:seruserMode:ModuserMode:e:de:rMode:userMode:uuuserMode:seruserMode:Mode:serMode:userModususerMode:erModuserMode:e:e:userModeuserMode::userMode:ususerMode:euserMode:ruserMode:Mode:userModeuserMode::userMouserMode:de:useruserMode:Mode:userMode:uuserMode:seruserMode:MouserMode:de:useuserMode:rModuserModuserMode:e:e:userMode:uuserModeuserMode::suserMode:erMode:userMuseuserMode:rMode:oduserMouserMode:de:e:userMode:userMode:ususerMode:erMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:uuserMode:seruserMuseruserMode:Mode:ode:Mode:useususerMode:euserMode:rMode:rMode:userMode:userModuserMode:euserMode::uuseuserMode:rMode:suserMode:erMuserMode:ode:userModuserMode:e:userMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::userMouserMode:de:uuserMode:serMode:useruserMode:MuserMode:ode:userMode:useruseruuserMode:serMode:ModeuuserMode:seuserMode:rMode::Mode:userModuserMode:e:uuseruserMode:Mode:suserMode:eruserMode:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::useuserMode:rususeruserMode:ModeuserMode::erMuseruserMode:ModeuuseruserMode:Mode:serMode::ode:Mode:userMode:useruserModeuserMode::MouserMode:de:userMuserMode:oduserMode:e:uuserMode:seruserModuserMode:e:ModuserMode:e:userMode:useruserModuserMode:e:Mode:userModeuserMode::userususususeruserModeuserMode::Mode:eruserMouserMode:de:Mode:euseruserMode:Mode:rMode:erMode:Mode:userMode:useruserModeuserMode::MuserMode:ouserMode:de:userMode:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:e:userMode:useruserModuserMode:e:userMode:ModeuseruserMode:MouserMode:de::userMode:uuserMode:serModeuserMode::useruserMode:Mode:userususerMode:erMode:Mode:userMode:useruserModeususerMode:erMode::Mode:userMouserMode:de:uuserMode:seruseuserMode:rMode:ModuserMode:e:usususerMode:erMode:erModeuseruserMode:Mode::useruuseruserMode:Mode:serModuserMode:e:Mode:uuserMode:serModeuuseruserMode:Mode:serMode::userususerMode:erMode:Mode:userMode:useruuserMode:serModeuserMode::Mode:userMode:uuserMuserMode:ode:seruserMode:useruseruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMouserMode:de:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserModuserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModeuserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserMode:r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::ususerMode:erMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuserMouserMode:de:rMode::userMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:userMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuserMode:e:userMouseruserMode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModeuserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userModuserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ode:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuserMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususerMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						userMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuserMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serMode:userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:userMode:pruserMode:inter_org.cpp:			/useuserMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:euserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->userMode:xee[1useruserModuserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suserMouserMode:de:erMode:userususerMode:erMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:ModuseuserMode:rMode:e:useuserMode:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouserMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMode:ruseruserMode:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:suserMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserMode:Mode::rMode:ode:userMode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:ususerMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userModuserMode:e:uuserMuserMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuseruserMode:Mode:ruserMouseuserMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserMode:de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuserMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:seruserModuserMode:e:Mode: 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userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:Mode:[4]);userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMuserMode:ode:serMode:useruseruserMode:MouserMode:de:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserModuserMode:e::userMode:uuserMode:seruseruserModuserModeuserMode::e:Mode:MuserMode:ode:userModeususerMode:erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruseuseruserMode:Mode:rMode:Mode::ususeuserMode:rMode:erMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::uuserMode:serususerModeuserMode::erMode:ModeuserMode::userMode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerMode:erususerMode:erMode:ModuserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::ususerMode:eususerMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMouserMode:duserMode:e:MouserMode:de::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMode:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuseuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-userMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserususerMode:erMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuserMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuserMode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:useuseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuserMode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:duserMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModususerMode:erMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMuserMode:ode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserModuserMode:e::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserModuserMode:e::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:userMode:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseuserMode:ruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::userMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:ModuserMode:e::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserModuserMode:e::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserMode:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuserMode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususerMode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuserMode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruserMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouserMode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuserMode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuserMode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruserMode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userMode:ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMuserMode:ode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erModeuserMode::uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode:userMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::usuuserMode:serMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMouserMode:de:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:useuserMode:rMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseususerMode:erMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:Mode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserMode:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuserMode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:Mode:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususerMode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuserMode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuserMode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuserMode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserMode:de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserMode:serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruserMode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuserMode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userModeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userMuserMode:oduuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMuserMode:ouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuseruserMode:Mode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useususerMode:erMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:userMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMode:rModeususeuseruserMode:Mode:ruserMode:Mode:euserModuserMode:e:rMode::userMode:useruserMode:MouserMode:de:userMususerMode:erMode:ode:userMode:uuserMode:suserMode:erMode:useuserMode:rMode:userMode:userMode:userMode:userModuserMoususerMode:erMode:de:e:userMode:uusususerMode:erMode:erMode:serModeuserMode:uuserMode:seuserMode:rMode::userMode:useruserMode:MouserModeuserMode::de:uuserMode:serModuserMode:e:userMode:userMode:userMode:ususerMode:euserMode:rMode:useruserMode:MouserMode:de:userMode:userMuserMode:oduserMode:e:uuserMode:serMode:useuserMode:rMode:userModeuserMode:useuserMode:rMode::userMode:useruserMouserMode:de:MuserMode:ouseuserMode:rMode:de:userMode:userModuserMode:e:useruserMode:Mode:ususerMode:euserMode:rMouserModeuserMode::de:userMode:userMode:userModuseuserMode:rMode:e:userMode:userMode:useuserMode:rModeuseuserMouserMode:deuserModeuserMode:::rMode::userMode:useruuserMode:serMode:MouserModuserMode:e:de:userMode:userModuserMode:e:userMode:useususerMode:erModeuseruserMode:Mode::rMode:userMode:userMode:uuserMode:serModususerMode:erMode:euserMode::userMode:userMode:uuserMode:seuserMode:rModeuseuserMode:rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userMode:userMuserMode:ode:userModuserMode:e:useuseuserMode:rMode:rMode:ususerMode:erMode:uuserModeuserMode::serModeuserMode::userMode:userModuseuserMode:rMode:e:userMode:userModeuseuuserMode:suserMode:erMode:rMouserMode:de::userMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:userMode:useuseuserMode:rususerMode:erMode:Mode:rModeuserMode::ususerMode:erMode:uuserModeuserMode::userMode:serMode:userModuserMouserMode:de:e:userMode:userModeuseuuserMode:seuserMode:rMode:rMouserMode:de::userMode:useruserMode:MouserMode:de:userMode:userMode:userModeuserMode::userMouserMode:de:useuseruserMode:Mode:rMode:userMode:ususerModeuserMode::erMode:uuseuserMode:rMode:serMode:userModuserMode:e:userMode:userMuserMode:userMode:odeuseuuserMode:serMode:rMode::userMode:userMode:useruserMode:MoususerMode:erMode:de:Mode:useruserMode:Mode:puserMode:rinteruserMode:_orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userMode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMouserMode:de:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMode:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:eruserMuserMode:ode:org.userMode:userMode:cpuserModuserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouserMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMode::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuseruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserMode:r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:euserMouserMode:de:::ususerMode:erMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuseruserMode:MouserMode:de:rMode::userMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:userMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuserMode:e:userMouseruserMode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserMode:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userModuserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ode:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuserMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususerMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduserModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserMode:serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuserMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serMode:userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:userMode:pruserMode:inter_org.cpp:			/useuserMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:ususerMode:euserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserModuserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suserMouserMode:de:erMode:userususerMode:erMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:ModuseuserMode:rMode:e:useuserMode:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouserMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMode:ruseruserMode:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:suserMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserMode:Mode::rMode:ode:userMode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:ususeuserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userModuserMode:e:uuserMuserMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuseruserMode:Mode:ruserMouseuserMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMode: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserMode:de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuserMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:seruserModuserMode:e:Mode: rt->F[2useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModeuserModuserMode:e::userMode:uuserMode:serMode:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:ModeuserMode::rMode:deuserMode::userMode:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModuserMuserMode:ode:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserModuserMode:e:Mode:uuserMode:serMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rMode:deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:userMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode::userMouseuseruserMode:Mode:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userMode:userModuseruserMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuserMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:rMode:Mode:userMode:userModuserMode:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMouserModuserMode:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: 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rt->fuserususerMode:erMode:Mode:orce[2]userMode:)userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useuserModuserMode:e:ruserModeuserMode::Mode:userMuseruserMode:Mode:odeuserMuserMode:oduserMode:e::userMode:uuserMode:seruserModuserMode:e:Mode:useuserMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::uuserMode:serMode:useruuseruseruserMode:Mode:Mode:serMuserMode:ode:ModuserMode:e:useuseuserMode:rMode:rModeuseruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:ode:userModeuseruserMode:Mode::userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuserMode:rMode:ModeuserMode::userModeuseususeruserMode:Mode:eruserModeuseruserMode:Mode::ModeuserMode::rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuserMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:useruserMode:Mode:Mode:serMode:Mode:MouserModeuseruserMode:Mode::duserMode:userMode:e:userModeususerMode:erModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouuserMode:serModeuserMode::de::uuserMode:serMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode:userMode::uuserMode:seruuseruserMode:Mode:serMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:serusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuseruserMode:Mode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::userMode:ode: 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5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerMode:erususerMode:erMode:ModuserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:eususerMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMouserMode:duserMode:e:MouserMode:de::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserModuserMode:e:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::useruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuseuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:Mode::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserususerMode:erMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuserMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruserModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserMode:Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userMode:tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duserMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:dususerMode:erMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModususerMode:erMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMuserMode:ode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserModuserMode:e::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserModuserMode:e::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:userMode:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseuserMode:ruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::userMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:ModuserMode:e::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserModuserMode:e::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruserMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuserMode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususerMode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuserMode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruserMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouserMode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuserMode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruserMode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMode:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMuserMode:ode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erModeuserMode::uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode:userMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserMode:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:uuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::usuuserMode:serMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMouserMode:de:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:useuserMode:rMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseususerMode:erMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserMode:e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:Mode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:the trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuserMode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:Mode:erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suserMode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususerMode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuserMode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuserMode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuserMode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruserMode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruserMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userMuserMode:odeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userMuserMode:oduuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMuserMode:ouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuseruserMode:Mode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useususerMode:erMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:userMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userMode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], 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57.3ususerMode:eruserMode:Mode:*rt-userModeuserMode::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouserMode:de:::ususerMode:erMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuseruserMode:MouserMode:de:rMode::userMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:userMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuserMode:e:userMouseruserMode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuserMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userModuserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erMode::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuserMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususerMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:userMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserMode:serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuserMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serMode:userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:userMode:pruserMode:inter_org.cpp:			/useuserMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserModuserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: 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rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuserMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:seruserModuserMode:e:Mode: 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57userMode:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMode:useuserMode:ruserMode:MouserMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:de::rMouserMode:de:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::deuserMode::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userModuserMode:euserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModuserMode:euserMode:::Mode:userMode:useuserMode:rMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3userMode:*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:rMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserModeuserMode::userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:userMode:userModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::Mode:useuserMode:rMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.userMode:cpuuserMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->userMode:q[4]userMode:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMode:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMode:], useruserMode:Mode:57.3userMode:*rt->useruserMode:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruserMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruseuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:Mode:[4]);userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruseruserMouserMode:de:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMuserMode:ode:serMode:useruseruserMode:MouserMode:de:Mode:userModeuserMouserMode:de::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserModuserMode:e::userMode:uuserMode:seruseruserModuserModeuserMode::e:Mode:MuserMode:ode:userModeususerMode:erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruseuseruserMode:Mode:rMode:Mode::ususeuserMode:rMode:erMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::uuserMode:serususerModeuserMode::erMode:ModeuserMode::userMode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:ModuserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:eususerMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMouserMode:duserMode:e:MouserMode:de::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode::priuseruserMouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserModuserMode:e:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuseuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserususerMode:erMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuserMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euserMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserMode::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserMode:ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:user.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerMode:erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserModeuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMuserMode:ode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:dususerMode:erMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModususerMode:erMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMuserMode:ode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserModuserMode:e::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserModuserMode:e::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:userMode:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseuserMode:ruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::userMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:ModuserMode:e::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserModuserMode:e::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::userMouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuserMode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususerMode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuserMode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruserMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouserMode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruserMode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouserMode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMuserMode:ode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erModeuserMode::uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode:userMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserModuserMode:e:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:uuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::usuuserMode:serMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMouserMode:de:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:useuserMode:rMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseususerMode:erMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:Mode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuserMode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:erMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususerMode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuserMode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuserMode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuserMode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruserModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruserMode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuserMode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruuserMode:serMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userMuserMode:odeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userMuserMode:oduuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMuserMode:ouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuseruserMode:Mode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useususerMode:erMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:userMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouuserMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userMode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMouserMode:de:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMode:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserModuserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserMode:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MuserMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:useruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruserMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserModuserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserMode:r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouserMode:de:::ususerMode:erMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuseruserMode:MouserMode:de:rMode::userMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:userMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuserMode:e:userMouseruserMode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserMode:userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userModuserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userModuserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuserMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserMode:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususerMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serMode:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserMode:serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuserMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serMode:userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuserMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserModuserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suserMouserMode:de:erMode:userususerMode:erMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:ModuseuserMode:rMode:e:useuserMode:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouserMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMode:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:suserMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserMode:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:ususeuserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userModuserMode:e:uuserMuserMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuseruserMode:Mode:ruserMouseuserMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuserMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:seruserModuserMode:e:Mode: 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userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:Mode:[4]);userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruseruserMouserMode:de:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMuserMode:ode:serMode:useruseruserMode:MouserMode:de:Mode:userModeuserMouserMode:de::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserModuserMode:e::userMode:uuserMode:seruseruserModuserModeuserMode::e:Mode:MuserMode:ode:userModeususerMode:erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruseuseruserMode:Mode:rMode:Mode::ususeuserMode:rMode:erMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::uuserMode:serususerModeuserMode::erMuserMode:ode:ModeuserMode::userMode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:ModuserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:eususerMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMouserMode:duserMode:e:MouserMode:de::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:userMode::priuseruserMouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserModuserMode:e:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuseuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserususerMode:erMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMode:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuserMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserMode:serMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModeuserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserMode:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMode:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserMode:Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMouserMode:deuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMuserMode:ode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:dususerMode:erMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModususerMode:erMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMuserMode:ode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserModuserMode:e::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserModuserMode:e::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:userMode:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseuserMode:ruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::userMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:ModuserMode:e::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserModuserMode:e::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserMode:e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuserMode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususerMode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuserMode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruserMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruserMode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouserMode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMuserMode:ode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erModeuserMode::uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode:userMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:userMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserModuserMode:e:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:uuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::usuuserMode:serMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMouserMode:de:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:useuserMode:rMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseususerMode:erMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:deuserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:userMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:Mode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuserMode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMode::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuserMode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususerMode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuserMode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuserMode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuserMode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useuserMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruserMode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euserModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:de:useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruuserMode:serMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userMuserMode:odeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userMuserMode:oduuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMuserMode:ouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuseruserMode:Mode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useususerMode:erMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:useususerMode:userMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userMode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], 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rt->userMode:xuserModuserMode:e:userMouseruserMode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userModuserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], 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rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuserMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuserMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserModuserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suserMouserMode:de:erMode:userususerMode:erMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:ModuseuserMode:rMode:e:useuserMode:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMode:useuserMode:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuserMode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouserMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMode:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:suserMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserMode:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:ususeuserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userModuserMode:e:uuserMuserMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuseruserMode:Mode:ruserMouseuserMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuserMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:seruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:userMode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:uuserMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuserMode:euserMode::ususerMode:eruserMode:MouserMode:de:uuserMode:serModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruserMode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:odeuserMode::ususerMode:euserMouserMode:de:rMode:userMouserMode:de:useruserMode:Mode:userMouserMode:de:userMode:useruserMode:useruserMode:Mode:Mode:userMuserMode:ode:userModuseruseruserMode:Mode:Mode:userMode:e:uuserMode:serModeuserMode::userMode:userMode:uuserMode:suserMode:eruseuserMouserMode:de:rMode:Mode:useususerMode:erMode:userMode:rMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMuserModeuserMode::oususerMode:erMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userMode:userModeuseuseruserMode:Mode:rMode::userMode:uuserMode:serMususeuserMode:rMode:erMode:oduserMode:e:useruseruserMode:Mode:MuserMode:ode:ususerMode:erMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:uuserMode:serMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuserMode:seruserMode:ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:MouserMode:de:oduserModeuserMode::e:MouserMode:de:uuserMode:serMode:useruseruserMouserMode:de:Mode:ModususerMode:erMode:e:userMususerMode:erMode:odeuserMode::useruserMode:userModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:Mode:useuserMode:userMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seususerMode:erMuserMode:ode:ruserMouserMode:de:MouserMode:de:ususerModeuuserMode:serMode::erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:MouserModuserMode:e:de:userMode:useruseruserModeuserMode::Mode:ModuserMode:e:userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rModeuserMode::Mode:useuserMode:rMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:userMode:uususeuserMode:rModuseruseruserMode:Mode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserMode:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erMode:Mode:orce[2]userMode:)userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useuserModuserMode:e:ruserModeuserMode::Mode:userMuseruserMode:Mode:odeuserMuserMode:oduserMode:e::userModeuserMode::uuserMode:seruserModuserMode:e:Mode:useuserMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::uuserMode:serMode:useruuseruseruserMode:ModeuserMode::Mode:serMuserMode:ode:ModuserMode:e:useuseuserMode:rMode:rModeuseruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:ode:userModeuseruserMode:Mode::userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuserMode:rMode:ModeuserMode::userModeuseususeruserMode:Mode:eruserModeuseruserMode:Mode::ModeuserMode::rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuserMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:useruserMode:Mode:Mode:serMode:Mode:MouserModeuseruserMode:Mode::duserMode:userMode:e:userModeususerMode:erModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouuserMode:serModeuserMode::de::uuserMode:serMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::Mode:userModeuserMode::useruserMode:ModeuserMode:userMode::uuserMode:seruuseruserMode:Mode:serMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:serusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuseruserMode:Mode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::userMode:ode: 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57userMode:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMode:useuserMode:ruserMode:MouserMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:de::rMouserMode:de:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userModuserMode:euserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModuserMode:euserMode:::Mode:userMode:useuserMode:rMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suserMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3userMode:*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:rMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserModeuserMode::userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:userMode:userModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::Mode:useuserMode:rMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.userMode:cpuuserMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->userMode:q[4]userMouserMode:de:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMode:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMode:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruserMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruseuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:Mode:[4]);userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruseruserMouserMode:de:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMuserMode:ode:serMode:useruseruserMode:MouserMode:de:Mode:userModeuserMouserMode:de::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserModuserMode:e::userMode:uuserMode:seruseruserModuserModeuserMode::e:Mode:MuserMode:ode:userModeususerMode:erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruseuseruserMode:Mode:rMode:Mode::ususeuserMode:rMode:erMode:useruseruuserMode:serMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::uuserMode:serususerModeuserMode::erMuserMode:ode:ModeuserMode::userMode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:ModuserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:eususerMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMouserMode:duserMode:e:MouserMode:de::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:userMode::priuseruserMouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserModuserMode:e:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruseuserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::uuserMode:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserMode:deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuseuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruseruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserususerMode:erMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuserMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserMode:serMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuserMode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::userModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:Mode:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:t->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserModeuserMode::Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMouserMode:deuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMuserMode:ode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:dususerMode:erMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModususerMode:erMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMuserMode:ode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserModuserMode:e::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserModuserMode:e::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:userMode:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseuserMode:ruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::userMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:ModuserMode:e::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserModuserMode:e::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:userMode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuserMode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususerMode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuserMode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruserMode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouserMode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMuserMode:ode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erModeuserMode::uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode:userMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserModuserMode:e:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:uuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::usuuserMode:serMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMouserMode:de:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:useuserMode:rMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseususerMode:erMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserMode::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:userMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:Mode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouserMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuserMode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserMode:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuserMode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususerMode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuserMode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuserMode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuserMode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruserMode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userMode:uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruuserMode:serMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userMuserMode:odeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userMuserMode:oduuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMuserMode:ouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuseruserMode:Mode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:useususerMode:erMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:userMode:useususerMode:userMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userMode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMouserMode:de:e:Mode:userMode:ususerMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserModuserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserModuserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:Mode::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserMode::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:userMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMode:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserModuserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserMode:r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouserMode:de:::ususerMode:erMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuseruserMode:MouserMode:de:rMode::userMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMode::userModuserMode:e:uuserMode:userMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuseruserMode:Mode:e:userMouseruserMode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erModeuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMouserMode:duserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuserMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususerMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserMode:serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuserMode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuserMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserModuserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suserMouserMode:de:erMode:userususerMode:erMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:ModuseuserMode:rMode:e:useuserMode:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMode:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuserMode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouserMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMode:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:suserMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserMode:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:ususeuserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModuserModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuseruserMode:Mode:ruserMouseuserMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuserMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:seruserModuserMode:e:Mode: 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userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:Mode:[4]);userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruseruserMouserMode:de:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMuserMode:ode:serMode:useruseruserMode:MouserMode:de:Mode:userModeuserMouserMode:de::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserModuserMode:e::userMode:uuserMode:seruseruserModuserModeuserMode::e:Mode:MuserMode:ode:userModeususerModeuserMode::erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruseuseruserMode:Mode:rMode:Mode::ususeuserMode:rMode:erMode:useruseruuserMode:serMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::uuserMode:serususerModeuserMode::erMuserMode:ode:ModeuserMode::userMode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:ModuserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:eususerMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMouseruserMode:Mode:duserMode:e:MouserMode:de::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:userMode::priuseruserMouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserMode:Mode::useruseruserModuserMode:e:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruserususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::uuserMode:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruseruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuserMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuseuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserususerMode:erMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuserMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserMode:serMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userMode:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:ModuserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModuserMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserModeuserMode::Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMouserMode:deuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMuserMode:ode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:dususerMode:erMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModususerMode:erMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMuserMode:ode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserModuserMode:e::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserModuserMode:e::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:userMode:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseuserMode:ruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::userMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:ModuserMode:e::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserModuserMode:e::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruserModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuserMode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususerMode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruserMode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeususerMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouserMode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMuserMode:ode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erModeuserMode::uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode:userMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserMode:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMuserMode:ode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserModuserMode:e:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:uuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::usuuserMode:serMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMouserMode:de:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:useuserMode:rMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseususerMode:erMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:userMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:Mode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:serModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuserMode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuserMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuserMode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususerMode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuserMode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuserMode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMode:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruserMode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuseruseuseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rModeuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruuserMode:serMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userMuserMode:odeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userMuserMode:oduuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMuserMode:ouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuseruserMode:Mode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userMuserMode:odeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userMode:useususerMode:erMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:userMode:useususerMode:userMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userMode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserModuserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserModuserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 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userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuserMode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserMode:r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouserMode:de:::ususerMode:erMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuseruserMode:MouserMode:de:rMode::userMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuserMode:userMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuseruserMode:Mode:e:userMouseruserMode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMode:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erMouserMode:deuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMouserMode:duserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerMode:erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuserMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususerMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserMode:serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuserMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserModuserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suserMouserMode:de:erMode:userususerMode:erMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMode:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMode:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuserMode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouserMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMode:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:suserMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserMode:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:ususeuserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuseruserMode:Mode:ruserMouseuserMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuserMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:seruserModuserMode:e:Mode: rt->F[2useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModeuserMouserMode:duserMode:e::userMode:uuserMode:serMode:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:ModeuserMode::rMode:deuserMode::userMode:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserModuserMode:e:Mode:uuserMode:serMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode::userMouseuseruserMode:Mode:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userMode:userModuseruserMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuserMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:rMode:Mode:userMode:userModuserMode:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMouserModuserMode:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:uuserMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuserMode:euserMode::ususerMode:eruserMode:MouserMode:de:uuserMode:serModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruserMode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:odeuserMode::ususerMode:euserMouserMode:de:rMode:userMouserMode:de:useruserMode:Mode:userMouserMode:de:userMode:useruserMode:useruserMode:Mode:Mode:userMuserMode:ode:userModuseruseruserMode:Mode:Mode:userMode:e:uuserMode:serModeuserMode::userMode:userMode:uuserMode:suserMode:eruseuserMouserMode:de:rMode:Mode:useususerMode:erMode:userMode:rMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMuserModeuserMode::oususerMode:erMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userMode:userModeuseuseruserMode:Mode:rMode::userMode:uuserMode:serMususeuserMode:rMode:erMode:oduserMode:e:useruseruserMode:Mode:MuserMode:ode:ususerMode:erMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:uuserMode:serMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuserMode:seruserMode:ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:MouserMode:de:oduserModeuserMode::e:MouserMode:de:uuserMode:serMode:useruseruserMouserMode:de:Mode:ModususerMode:erMode:e:userMususerMode:erMode:odeuserMode::useruserMode:userModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::useuserMode:userMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seususerMode:erMuserMode:ode:ruserMouserMode:de:MouserMode:de:ususerModeuuserMode:serMode::erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:MouserModuserMode:e:de:userMode:useruseruserModeuserMode::Mode:ModuserMode:euserMode::userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rModeuserMode::Mode:useuserMode:rMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:userMode:uususeuserMode:rModuseruseruserMode:Mode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserMode:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erMode:Mode:orce[2]userMode:)userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useuserModuserMode:e:ruserModeuserMode::Mode:userMuseruserMode:Mode:odeuserMuserMode:oduserMode:e::userModeuserMode::uuserMode:seruserModuserMode:e:Mode:useuserMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::uuserMode:serMode:useruuseruseruserMode:ModeuserMode::Mode:serMuserMode:ode:ModuserMode:e:useuseuserMode:rMode:rModeuseruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:ode:userModeuseruserMode:Mode::userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuserMode:rMode:ModeuserMode::userModeuseususeruserMode:Mode:eruserModeuseruserMode:Mode::ModeuserMode::rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuserMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:useruserMode:Mode:Mode:serMode:ModeuserMode::MouserModeuseruserMode:Mode::duserMode:userMode:e:userModeususerMode:erModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouuserMode:serModeuserMode::de::uuserMode:serMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode:userMode::uuserMode:seruuseruserMode:Mode:serMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:serusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuseruserMode:Mode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::userMode:ode: 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rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuseuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMode:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserususerMode:erMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuserMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserMode:serMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:ll(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:userModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserMode:Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuserMode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserMode:e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModususerMode:erMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserModeuserMode::Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMouserMode:deuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMuserMode:ode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:dususerMode:erMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModususerMode:erMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMuserMode:ode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserModuserMode:e::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserModuserMode:e::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:userMode:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseuserMode:ruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::userMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:ModuserMode:e::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserModuserMode:e::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::Mode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuserMode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruserMode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerMode:erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suserMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouserMode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMuserMode:ode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erModeuserMode::uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode:userMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMode:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserModuserMode:e:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMuserMode:ode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserModuserMode:e:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:uuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::usuuserMode:serMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMouserMode:de:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:useuserMode:rMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseususerMode:erMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuserMode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuserMode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:userMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:Mode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euserModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuserMode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModeuserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuserMode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususerMode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuserMode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuserModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruserMode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuserMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuserMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruuserMode:serMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userMuserMode:odeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userMuserMode:oduuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMuserMode:ouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuseruserMode:Mode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:MuserMode:ouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userMode:userMuserMode:odeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userMode:useususerMode:erMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:userMode:useususerMode:userMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userMode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuserMode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserModuserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserModuserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:ode:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:ususerMode:erMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserModuserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMode:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserModeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserMode:r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouserMode:de:::ususerMode:erMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuseruserMode:MouserMode:de:rMode::userMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuserMode:userMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuseruserMode:Mode:e:userMouseruserMode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserMode::useuserMode:rMode:useruserMode:userMode:Mode:userModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMouserMode:de:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erMouserMode:deuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMouserMode:duserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:Mode:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerModeuserMode::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuserMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususerMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuserModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserMode:serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuserMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:useruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserModuserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMode:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMode:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuserMode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouserMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMode:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:suserMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserMode:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:ususeuserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:userMode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuseruserMode:Mode:ruserMouseuserMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserModeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:ususerMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:seruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:uuserMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuserMode:euserMode::ususerMode:eruserMode:MouserMode:de:uuserMode:serModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruserMode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:odeuserMode::ususerMode:euserMouserMode:de:rMode:userMouserMode:de:useruserMode:Mode:userMouserMode:de:userMode:useruserMode:useruserMode:Mode:Mode:userMuserMode:ode:userModuseruseruserMode:Mode:Mode:userMode:e:uuserMode:serModeuserMode::userMode:userMode:uuserMode:suserMode:eruseuserMouserMode:de:rMode:Mode:useususerMode:erMode:userMode:rMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMuserModeuserMode::oususerMode:erMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userMode:userModeuseuseruserMode:Mode:rMode::userMode:uuserMode:serMususeuserMode:rMode:erMode:oduserMode:e:useruseruserMode:Mode:MuserMode:ode:ususerMode:erMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:uuserMode:serMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuseuserMode:rMode:seruserMode:ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:MouserMode:de:oduserModeuserMode::e:MouserMode:de:uuserMode:serMode:useruseruserMouserMode:de:Mode:ModususerMode:erMode:e:userMususerMode:erMode:odeuserMode::useruserMode:userModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::useuserMode:userMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seususerMode:erMuserMode:ode:ruserMouserMode:de:MouserMode:de:ususerModeuuserMode:serMode::erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:MouserModuserMode:e:de:userMode:useruseruserModeuserMode::Mode:ModuserMode:euserMode::userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rModeuserMode::Mode:useuserMode:rMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:userMode:uususeuserMode:rModuseruseruserMode:Mode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserMode:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erMode:Mode:orce[2]userMode:)userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useuserModuserMode:e:ruserModeuserMode::Mode:userMuseruserMode:Mode:odeuserMuserMode:oduserMode:e::userModeuserMode::uuserMode:seruserModuserMode:e:Mode:useuserMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::uuserMode:serMode:useruuseruseruserMode:ModeuserMode::Mode:serMuserMode:ode:ModuserMode:e:useuseuserMode:rMode:rModeuseruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:ode:userModeuseruserMode:Mode::userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuserMode:rMode:ModeuserMode::userModeuseususeruserMode:Mode:eruserModeuseruserMode:Mode::ModeususerMode:erMode::rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuserMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:useruserMode:Mode:Mode:serMode:ModeuserMode::MouserModeuseruserMode:Mode::duserMode:userMode:e:userModeususerMode:erModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouuserMode:serModeuserMode::de::uuserMode:serMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode:userMode::uuserMode:seruuseruserMode:Mode:serMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:serusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuseruserMode:Mode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::userMode:ode: 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57userMode:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMode:useuserMode:ruserMode:MouserMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:de::rMouserMode:de:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userModuserMode:euserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModuserMode:euserMode:::Mode:userMode:useuserMode:rMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suseuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3userMode:*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:rMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserModeuserMode::userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:userMode:userModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.userMode:cpuuserMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->userMode:q[4]userMouserMode:de:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMode:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMode:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruserMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruseuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:Mode:[4]);userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruseruserMouserMode:de:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMuserMode:ode:serMode:useruseruserMode:MouserMode:de:Mode:userModeuserMouserMode:de::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserModuserMode:e::userMode:uuserMode:seruseruserModuserModeuserMode::e:Mode:MuserMode:ode:userModeususerModeuserMode::erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruseuseruserMode:Mode:rMode:Mode::ususeuserMode:rMode:erMode:useruseruuserMode:serMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::uuserMode:serususerModeuserMode::erMuserMode:ode:ModeuserMode::userMode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:euuserMode:suserMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMouseruserMode:Mode:duserMode:e:MouserMode:de::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:userMode:userMode::priuseruserMouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:userMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruserususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::uuserMode:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuseuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserususerMode:erMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuserMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::userMode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserMode:serMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:Mode:T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::Mode:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuserMode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->userMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:Mode::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:useruseruserususerMode:erMode:Mode:ModuserMode:e:Mode:userMode:userModuserMode:e:userMouseuserMode:ruserMode:ModeuserMode::de:userModeuseuserMode:ruserMode:Mode::useruserMode:Mode:userModususerMode:erMode:e:ususeuserMode:rMode:erMode:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:userMode:useruserModuseuserMode:rMode:e:ModuserMode:e:userMode:userModeuseruserMode:ModuseruserModeuserMode::Mode:e::ususeuserMode:rMode:erMode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMouserMode:deuserMode::MouserMode:de::userMouseruserMode:Mode:de:userMode:userModuserMode:e:useruserMuserMode:ode:ModeuserususerMode:erModeuserMode::Mode::userMode:userMode:userMouseruserMode:Mode:dususerMode:erMode:e:userMuserMode:ode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:userModususerMode:erMode:e:userMuserMode:ouseruserMode:Mode:de:userModeuseruserModeuserMode::Mode::useruserMuserMode:ode:Mode:userModuserModuserMode:e:e:userMode:userModeuseruseuseruserMode:Mode:rModeuserModuserMode:e::Mode::userMode:useruserMode:MuserMode:oduserMode:e:userMode:userModeuseruserModeuserModuserMode:e::ModuseruserMode:Mode:e::userMode:userMuserMode:ode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuserMode::Mode::userMode:userMouseruseruserMode:Mode:Mode:de:userModuserMode:e:userMode:useruserMode:ModeuseruserModeuserMode::Mode::userMode:userMuserMode:ode:userModuserModeuseuserMode:ruserMode:Mode::e:userMode:useruseruseruserModeuserMode::Mode:Mode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:userMouseruserMode:Mode:deuseruserModeuserMode::MouserMode:de::userMode:useruserMode:Mode:userModuserMode:e:userMode:userModeuseruserModeuseruseruserMode:Mode:ModuserMode:e::MouserMode:de::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserModuserMode:e::Mode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:useruseuserMode:rMode:Mode:userModeuuserMode:seruserModeuseruserMode:Mode::Mode::useruuserMode:serMode:mory.cuserMode:pp:	rtuserMode:->userMode:userMode:ltagususerMode:eruseruserModeuserMode::Mode:Mode:euserMode: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuserMode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruserMode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suserMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouserMode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMuserMode:ode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erModeuserMode::uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode:userMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuserMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMouserMode:de:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserModuserMode:e:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMuserMode:ode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserModuserMode:e:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:uuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::usuuserMode:serMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMouserMode:de:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:useuserMode:rMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseususerMode:erMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:ode:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuserMode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:userMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:Mode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuserMode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuserMode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erMode:euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerMode:erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuserMode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususerMode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruserMode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruserMode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:ususerMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuserMode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruuserMode:serMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userMuserMode:odeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userMuserMode:oduuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMuserMode:ouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserMode:serMode:uuseruserMode:Mode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:userMode:useruserMode:MuserMode:ouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userMode:userMuserMode:odeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userMode:useususerMode:erMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:userMode:useususerMode:userMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userMode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuserMode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserModuserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserModuserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:oduserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuseruserMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:ususerMode:erMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserModuserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: 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57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouserMode:de:::ususerMode:erMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuseruserMode:MouserMode:de:rMode::userMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuserMode:userMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuseruserMode:Mode:e:userMouseruserMode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserMode:e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:userModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMouserMode:de:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erMouserMode:deuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMouserMode:duserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:userMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:ModuserMode:e:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], 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rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:uuserMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuserMode:euserMode::ususerMode:eruserMode:MouserMode:de:uuserMode:serModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruserMode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:odeuserMode::ususerMode:euserMouserMode:de:rMode:userMouserMode:de:useruserMode:Mode:userMouserMode:de:userMode:useruserMode:useruserMode:Mode:Mode:userMuserMode:ode:userModuseruseruserMode:Mode:Mode:userMode:e:uuserMode:serModeuserMode::userMode:userMode:uuserMode:suserMode:eruseuserMouserMode:de:rMode:Mode:useususerMode:erMode:userMode:rMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMuserModeuserMode::oususerMode:erMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userModeuserMode::userModeuseuseruserMode:Mode:rMode::userMode:uuserMode:serMususeuserMode:rMode:erMode:oduserMode:e:useruseruserMode:Mode:MuserMode:ode:ususerMode:erMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:uuserMode:serMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuseuserMode:rMode:seruserMode:ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:MouserMode:de:oduserModeuserMode::e:MouserMode:de:uuserMode:serMode:useruseruserMouserMode:de:Mode:ModususerMode:erMode:e:userMususerMode:erMode:odeuserMode::useruserMode:userModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::useuserMode:userMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seususerMode:erMuserMode:ode:ruserMouserMode:de:MouserMode:de:ususerModeuuserMode:serMode::erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:MouserModuserMode:e:de:userMode:useruseruserModeuserMode::Mode:ModuserMode:euserMode::userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:userMode:useruseuserModeuserMode::rModeuserMode::Mode:useuserMode:rMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:userMode:uususeuserMode:rModuseruseruserMode:Mode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserMode:de:>force[useruserMode:Mode:1], 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ruseruserMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuserModeuserMode::userMode:seruserMode:ModeuserModeuserMode::userMuserMode:odeuserMode::userMode::userMuserMode:ode:uuserMode:seuseuserMode:rMode:rMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerMode:eruserMode:MouseuserMode:rMode:duuserMode:serMode:euserMuserModeuserMode::oduserModeuserMode::e::userModuserMode:e:userMode:userMode:ususerMode:eruuserMode:serMode:ModuserMode:euserMode::uuserMode:seruserMode:Mode:userMode:uuserModeuserMode::serMode:userModeuserModeuserMode::ususerMode:eruserMode:Mode::useruserMode:MuseruserMode:Mode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMode:userMode:useruserModuserMouserMode:de:euuserMode:serMode::ModeuuserMode:seuserMode:rMode::userMode:userMouuserModuserMode:e:serMode:duserMode:e:useruserModeuseuserMode:rMode::Mode:userModuserModuserModeuserMode::e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:useuserMode:rMode:userMode:userMode:uuserModeuserMode:userMode::userMode:seruseruserMode:Mode:ModuserMode:euserMode:useuserMode:rMode::userMuuserMode:serMode:odeuserMode::useuserMode:rMode:userMode:userMode:useruserMuserMode:ode:ModuserMode:euseuserMode:ruuserMode:serMode:Mode::ususeuserMode:rMode:erMode:userMode:userModuserMode:e:useruserMode:MouserModeuserMode::userMode:de:useuserMode:userMode:ruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:ususerMode:erMode:userMode:uuserMode:seruserMode:ModeususerModeuserModeuserMode:userMode:::erMode::userModuserMode:euserModeuserMode:::userMouserMode:de:userMuserMode:ode:useuserMouserMode:de:rMode:useruserMode:ModeuserMode::useususerMode:erModeuserMode::ruserMode:userMode:Mode:ususerMode:euserMode:rMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:userMuserMode:ode:riuseruserMode:MuserMouserMode:de:ode:nuserMode:userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], 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57userMode:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMode:useuserMode:ruserMode:MouserMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:de::rMouserMode:de:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModuserMode:euserMode:::Mode:userMode:useuserMode:rMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suseuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3userMode:*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:rMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserModeuserMode::userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:userMode:userModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.userMode:cpuuserMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->userMode:q[4]userMouserMode:de:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMode:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMode:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruseuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:Mode:[4]);userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruseruserMouserMode:de:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMuserMode:ode:serMode:useruseruserMode:MouserMode:de:Mode:userModeuserMouserMode:de::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserModuserMode:e::userMode:uuserMode:seruseruserModuserModeuserMode::e:Mode:MuserMode:ode:userModeususerModeuserMode::erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruseuseruserMode:Mode:rMode:Mode::ususeuserMode:rMode:erMode:useruseruuserMode:serMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::uuserMode:serususerModeuserMode::erMuserMode:ode:ModeuserMode::useruserMode:Mode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:euuserMode:suserMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMouseruserMode:Mode:duserMode:e:MouserMode:de::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMode::Mode::useruserMode:userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuserMode:ode:Mode::useruserMode:userMode:userMode::priuseruserMouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:userMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruserususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserModuserMode:e::uuserMode:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruuserMode:seruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuseuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserususerMode:erMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuserMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserMode:serMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOINuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruserMode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruserMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:Mode:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useuserMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMode:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::duserMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruserMode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:userMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suserMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouserMode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMuserMode:ode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erModeuserMode::uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode:userMode::uuserMode:suserMode:eruserModeuserMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuuserMode:serMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMouserMode:de:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserModuserMode:e:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMuserMode:ode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserModuserMode:e:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:uuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::usuuserMode:serMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMouserMode:de:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:useuserMode:rMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseususerMode:erMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userMode:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuserMode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:userMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:Mode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuserMode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuserMode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userMode:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuserMode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rMode:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruserMode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruserMode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userMode:userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuserMode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruuserMode:serMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userMuserMode:odeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userMuserMode:oduuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMuserMode:ouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserModeuserMode::serMode:uuseruserMode:Mode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:userMode:useruserMode:MuserMode:ouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userMode:userMuserMode:odeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userMode:useususerMode:erMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:userMode:useususerMode:userMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userMode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:->userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuserMode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserModuserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserModuserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:oduserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModeuserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:ususerMode:erMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserModuserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserMode:r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouserMode:de:::ususerMode:erMuseruserMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuserMode:userMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuseruserMode:Mode:e:userMouseruserMode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:userModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMouserMode:de:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erMouserMode:deuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMouserMode:duserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:useruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:useuserMode:rMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:ModuserMode:e:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerModeuserMode::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuserMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususerMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserususerMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserMode:serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuserMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMode:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMode:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuserMode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouserMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMode:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:suserMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:ususeuserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:userMode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuseruserMode:Mode:ruserMouseuserMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:usususerMode:erMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:seruserModuserMode:e:Mode: 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57ususerMode:euserMode:rMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserModeuserMode::userMode::uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:userMode:userModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModuserModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.userMode:cpuuserMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->userMode:q[4]userMouserMode:de:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMode:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruseuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:Mode:[4]);userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruseruserMouserMode:de:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMuserMode:ode:serMode:useruseruserMode:MouserMode:de:Mode:userModeuserMouserMode:de::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserModuserMode:e::userMode:uuserMode:seruseruserModuserModeuserMode::e:Mode:MuserMode:ode:userModeususerModeuserMode::erMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruseuseruserMode:Mode:rMode:Mode::ususeuserMode:rMode:erMode:useruseruuserMode:serMode:MuserMode:ode:userMode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::uuserMode:serususerModeuserMode::erMuserMode:ode:ModeuserMode::useruserMode:Mode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:euuserMode:suserMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMouseruserMode:Mode:duserMode:e:MouserMode:de::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::Mode::useruserMode:userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuserMode:ode:Mode::useruserMode:userMode:userMode::priuseruserMouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:userMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruserMode:ModeuuserMode:serMode::userMode:useruserususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:userMode:ModeuserModuserMode:e::uuserMode:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruuserMode:seruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserususerMode:erMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuserMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserMode:serMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rMode:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.userMode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:ModuseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userMode:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruserMode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:serMode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suserMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouserMode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMuserMode:ode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erModeuserMode::uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode:userMode::uuserMode:suserMode:eruserModeuserMode:userMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuuserMode:serMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMouserMode:de:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserModuserMode:e:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMuserMode:ode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserModuserMode:e:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:uuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::usuuserMode:serMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMouserMode:de:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:useuserMode:rMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseususerMode:erMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuserMode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:userMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:Mode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserMode:rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuserMode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuserMode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erModeuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuserMode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruserMode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserMode:ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruserMode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuseruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuserMode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruuserMode:serMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userMuserMode:odeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userMuserMode:oduuserMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMode:userMuserMode:ouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserModeuserMode::serMode:uuseruserMode:Mode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:userMode:useruserMode:MuserMode:ouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userMode:userMuserMode:odeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userMode:useususerMode:erMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:userMode:useususerMode:userMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userMode:], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuserMode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserModuserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserModuserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:oduserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:userMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuserMouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:ususerMode:erMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserModuserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMuserMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserMode:r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuserMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouserMode:de:::ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuserMode:userMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuseruserMode:Mode:e:userMouseruserMode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususerModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:userModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMouserMode:de:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erMouserMode:deuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMouserMode:duserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:de:e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:uuserMode:seruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:useuserMode:rMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:ModuserMode:e:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerModeuserMode::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuserMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususerMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserusususerMode:erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserMode:serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:oduserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMode:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMode:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuserMode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouserMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:suserMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:ususeuserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:userMode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:usususerMode:erMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:seruserModuserMode:e:Mode: rt->F[2useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModeuserMouserMode:duserMode:e::userMode:uuserMode:serMode:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:ModeuserMode::rMode:deuserMode::userMode:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:uuserMode:serMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode::userMouseuseruserMode:Mode:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userMode:userModuseruserMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:rMode:Mode:userMode:userModuserMode:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMouserModuserMode:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: 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rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useuserModuserMode:e:ruserModeuserMode::Mode:userMuseruserMode:Mode:odeuserMuserMode:oduserMode:e::userModeuserMode::uuserMode:seruserModuserMode:e:Mode:useuserMode:userMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::uuserMode:serMode:useruuseruseruserMode:ModeuserMode::Mode:serMuserMode:ode:ModuserMode:e:useuseuserMouserMode:de:rMode:rModeuseruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:ode:userModeuseruserMode:Mode::userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuserMode:rMode:ModeuserMode::userModeuseususeruserMode:Mode:eruserModeuseruserMode:Mode::ModeususerMode:erMode::rMode::userMuserModeuserMode::ode:useruserMode:MouserMode:de:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuserMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:useruserMode:Mode:Mode:serMode:ModeuserMode::MouserModeuseruserMode:Mode::duserMode:userMode:e:userModeususerMode:erModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouuserMode:serModeuserMode::de::uuserMode:serMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode:userMode::uuserMode:seruuseruserMode:Mode:serMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:serusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuseruserMode:Mode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::userMode:ode: 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57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:euuserMode:suserMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::Mode::useruserMode:userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuserMode:ode:Mode::useruserMode:userMode:userMode::priuseruserMouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:userMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:seuserMode:ruserMode:ModeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruuserMode:serMode:ModeuuserMode:serMode::userMode:useruserususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:userMode:ModeuserModuserMode:e::uuserMode:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruuserMode:seruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>userMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuserMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserususerMode:erMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuserMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserMode:serMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserMode:duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuserMode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuserMode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruserMode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suserMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouserMode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMuserMode:ode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rMode:MouserMode:deuserMode::ususerMode:erModeuserMode::uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useuserMode:ruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode:userMode::uuserMode:suserMode:eruserModeuserMode:userMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuuserMode:serMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMouserMode:de:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserModuserMode:e:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMuserMode:ode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserModuserMode:e:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:uuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::usuuserMode:serMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMouserMode:de:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:useuserMode:rMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseususerMode:erMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:de:		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuserMode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:userMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:Mode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuserMode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuserMode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MuseuserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuserMode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::Mode:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruserMode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuserMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:Mode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userMode:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuserMode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruuserMode:serMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userMuserMode:odeuseuserModuserMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userMuserMode:oduuuserMode:serMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMode:userMuserMode:ouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserModeuserMode::serMode:uuseruserMode:Mode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:userMode:useruserMode:MuserMode:ouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userMode:userMuserMode:odeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userMode:useususerMode:erMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:userMode:useususerMode:userMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:userMode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuserMode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserModuserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:erMode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 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userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:ususerMode:erMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserModuserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserMode:r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuuserMode:serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouserMode:de:::ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuserMode:userMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuseruserMode:Mode:e:userMouseruserMode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::userMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:userModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMouserMode:de:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erMouserMode:deuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMouserMode:duserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserMode:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:deuserMode::e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:uuserMode:seruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:useuserMode:rMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:ModuserMode:e:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerModeuserMode::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuserMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususerMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserusususerMode:erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserMode:serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:erMuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMode:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMode:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouserMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:suserMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:ususeuserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:userMode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:erMode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:usususerMode:erMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:seruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:uuserMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuserMode:euserMode::ususerMode:eruserMode:MouserMode:de:uuserMode:serModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:odeuserMode::ususerMode:euserMouserMode:de:rMode:userMouserMode:de:useruserMode:Mode:userMouserMode:de:userMode:useruserMode:useruserMode:Mode:Mode:userMuserMode:ode:userModuseruseruserMode:Mode:Mode:userMode:e:uuserMode:serModeuserMode:userMode::userMode:userMode:uuserMode:suserMode:eruseuserMouserMode:de:rMode:Mode:useususerMode:erMode:userMode:rMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMuserModeuserMode::oususerMode:erMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userModeuserMode::userModeuseuseruserMode:Mode:rMode::userMode:uuserMode:serMususeuserMode:rMode:erMode:oduserMode:e:useruseruserMode:Mode:MuserMode:ode:ususerMode:erMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:uuserMode:serMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuseuserMode:rMode:seruserMode:ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:MouserMode:de:oduserModeuserMode::e:MouserMode:de:uuserMode:serMode:useruseruserMouserMode:de:Mode:ModususerMode:erMode:e:userMususerMode:erMode:odeuserMode::useruserMode:userModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::useuserMode:userMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uuserMode:seususerMode:erMuserMode:ode:ruserMouserMode:de:MouserMode:de:ususerModeuuserMode:serMode::erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:MouserModuserMode:e:de:userMode:useruseruserModeuserMode::Mode:ModuserMode:euserMode::userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:rMode:useruseuserModeuserMode::rModeuserMode::Mode:useuserMode:rMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:userMode:uususeuserMode:rModuseruseruserMode:Mode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserMode:de:>force[useruserMode:Mode:1], 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5userMode:7.3*rt-userModuserMode:e:>jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuserMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:useruserModuseususerMode:erMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouseuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserMode::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuserMode:rMode:userMode:Mode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:ModuserMode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserMode:MuserMode:ode:userModeuseuserMode:rModuserMode:e:userMode::uuseuseususerMode:erMode:ruserMode:Mode:rModeuserMode::serMode:useuserMode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:Mode:ususerMode:erModuserMode:e:userModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:userModeususerMode:userMode:eruserMuserMode:ode:ModuserMode:e::useuuuserMode:serMode:serModeuserMode::rModuserMode:e:useruserMode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rModeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserMode:ModeuserMode::useuuserMode:serMode:rMususerMode:erMouserMode:de:ode:userMode:useuseruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruserMode:MouserModuserMode:e:de:*rt->jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:Mode:useruseuserMode:rMode:MuserMode:ouserMode:de:useuserMode:rModeuuserMode:seususerMode:erMode:ruserMode:Mode::userMouserMode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:ModeuserMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:userMode:userModeuserMode::uuserMode:serMode:useruserModeuseuserMode:rMode::Mode:userModeususerMuserMode:ode:erMode::useususerMode:erMode:userMode:rMouserMode:de:useruserMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModeuserMode::::ModuserMode:euserModuserMode:e::userMode:useruserMode:Mode:userModeuserModeuserMode::userMode::uuserModeuserMode::suserMode:erMode:useususerMode:erMuserMode:ode:ruseruuserMode:seuserMode:ruserMode:MouserMode:deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruserMode:Mode:uuserMode:serMuserMode:ode:useuserModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserMode:rMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userModeuserMode:userMode::7.3*ruserMode:t->jgouserModeuserMode::al[3], 57userMode:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserMode:ode:useuserMode:ruserMode:MouserMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:de::rMouserMode:de:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMode:ruserMode:Mode:userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModuserMode:euserMode:::Mode:userMode:useuserMode:rMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suseuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57.3userMode:*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:rMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:userMode:userModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.userMode:cpuuserMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->userMode:q[4]userMouserMode:de:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMode:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruseuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:Mode:[4]);userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruseruserMouserMode:de:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMuserMode:ode:serMode:useruseruserMode:MouserMode:de:Mode:userModeuserMouserMode:de::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserModuserMode:e::userMode:uuserMode:seruseruserModuserModeuserMode::e:Mode:MuserMode:ode:userModeususerModeuserMode::erMode::useruserMode:ModeuserMuserMode:ode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruseuseruserMode:Mode:rMode:Mode::ususeuserMode:rMode:erMode:useruseruuserMode:serMode:MuserMode:ode:userMode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::uuserMode:serususerModeuserMode::erMuserMode:ode:ModeuserMode::useruserMode:Mode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::Mode::useruserMode:userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuserMode:ode:Mode::useruserMode:userMode:userMode::priuseruserMouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:ususerMode:userMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:ModeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruuserMode:serMode:ModeuuserMode:serMode::userMode:useruserususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:userMode:ModeuserModuserMode:e::uuserMode:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruuserMode:seruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>userMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserususerMode:erMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuserMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserMode:serMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:euserModeuserMode::r.cpp:		userMode:				ruseruserMode:Mode:t->uuserMode:seuserModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::userModuserMode:e:useuseruserMode:Mode:rModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:e:useuseruserMode:Mode:rModuserMode:euserModeuserMode:::useruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:userModuserMode:euserModeuserMode:::useuseruserMode:Mode:rModuserMode:e:userModuserMode:e:userModuserMode:euseruserMode:ModeuserMode:::useruserMode:Mode:useuseruserMode:Mode:rModeuserMode::userModuserMode:e:useuserMode:rMode:userModuserMode:euserMode::useuserMode:ruseuserMode:rMode::userMode:useuseruseruserMode:Mode:Mode:rMode:useruserModuserMode:e:.cpuserMode:p:			userModeuserMode::			rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserMode:Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userMode: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rMode:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModuserMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruserMode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::userMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suserMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouserMode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:eruserModeususerMode:erMuserMode:ode::Mode:suserModeuserMode::erExit);userMode:useruserMode:useuserMode:rModeuserMode::MouserMode:deuserMode::ususerMode:erModeuserMode::uuserMode:seuserMode:rMuserMode:ode:useruserMode:Mode:useuserMode:ruserMode:Mode:userModuserMode:e:userMouserMode:deuserMode:userMode::uuserMode:suserMode:eruserModeuserMode:userMode::Mode:userMode:userMuserModeuserMode::ode:userModuserMode:e:userMode:userusususerMode:eruserMode:Mode:eruserMode:ModuuserMode:serMode:e:Mode:useuserMode:rMode:userMode:useruserMode:Mode:useruseuseuseruserMode:ModuserMode:e:rMode:rMode:MouseuserMode:rMouserMode:de:deuserMode::ususerMode:erMode:useuserMode:rMode:useruserMode:Mode:uuserMode:seruseruserMode:Mode:ModuserMode:e:userMuserModuserMode:e:ouserMode:deuserMode::userMode:ususerMode:erMode:useuserModuseuserMode:rMode:e:rModeuserMode::useruserMode:Mode:userModuserMuserMode:ode:e:userMouserMode:deuserMouserMode:de::ususerModeuserModeuserMode:::eruserMode:ModeuserMode::useuserMode:ruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMouserMode:deususerMode:erMode::ususeuserMode:rMode:eruseruserMode:Mode:userModeuserMouserMode:de:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:serususerMode:eruserMode:ModuserMouserMode:de:e:Mode:useuuserMode:suserModuserMode:e:erMode:rMode:userMode:userMode:userMode:uuserMode:seruseuserMode:rMode:MouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:uuserMode:serMode:rMode:uuseruserMode:Mode:serMode:useruserMuserMode:ode:ModuserMode:euserMode::userMouserMode:deuserMode::usuuserMode:serMode:erMode:uuseuserMode:rMode:seuserMode:rMode:useruserMode:MuserMode:ode:userModuuserMode:serMode:e:userMode:userMouserMouserMode:de:deuserMode::uuserMode:suserMode:eruserMode:Mode:useuserMode:ruserMode:Mode:userModeuserMode::userModuserModuserMode:e:e:useuserMode:rMouseruserModeuserMode::Mode:deuserMode::ususerMode:eruserModeuuserMode:serMode::ModeuserMode::Mode:main.cpp:		swuserModuseususerMode:erMode:rMode:e:itch(userMode:ruserMode:t-userMode:>userMode:ususerMode:eruserModeuserMuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuserMode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:userMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:Mode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:userMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuserMode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuserMode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:Mode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rMode:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuserMode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerMode:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruserMode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userMode:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userMode:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:Mode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuserMode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruuserMode:serMuserMode:ode:MouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userMuserMode:odeuseuserModuserMode:userMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userMuserMode:oduuuserMode:serMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMode:userMuserMode:ouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserModeuserMode::serMode:uuseruserMode:Mode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:userMode:useruserMode:MuserMode:ouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userMode:userMuserMode:odeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userMode:useususerMode:erMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:userMode:useususerMode:userMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserModuserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuserMode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserModuserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:oduserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuserMode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMode:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:ususerMode:erMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMode:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useusuuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserModuserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuserMode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuuserMode:serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouserMode:de:::ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuserMode:userMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuseruserMode:Mode:e:userMouseruserMode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:userModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMouserMode:de:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erMouserMode:deuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useruserMode:Mode:userMouserMode:duserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserModuserMode:e:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:deuserMode::e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:uuserMode:seruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:useuserMode:rMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:ModuserMode:e:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerModeuserMode::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuserMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserusususerMode:erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserMode:serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:userMode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMode:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouserMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:suserMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:ususeuserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:userMode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruserMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:usususerMode:erMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode:::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seruserModuserMode:e:Mode: 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userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:Mode:[4]);userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruseruserMouserMode:de:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMuserMode:ode:serMode:useruseruserMode:MouserMode:de:Mode:userModeuserMouserMode:de::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserModuserMode:e::userMode:uuserMode:seruseruserModuserModeuserMode::e:Mode:MuserMode:ode:userModeususerModeuserMode::erMode::useruserMode:ModeuserMuserMode:ode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruseuseruserMode:Mode:rMode:Mode::ususeuserMode:rMode:erMode:useruseruuserMode:serMode:MuserMode:ode:userMode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::uuserMode:serususerModeuserMode::erMuserMode:ode:ModeuserMode::useruserMode:Mode:useuuserMode:serMode:ruseruserMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::Mode::useruserMode:userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuserMode:ode:Mode::useruserMode:userMode:userMode::priuseruserMouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:userMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:ModeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruuserMode:serMode:ModeuuserMode:serMode::userMode:useruserususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:userMode:ModeuserModuserMode:e::uuserMode:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserMode::userModeuserMode::uuserMode:seruuserMode:seruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::userMode:useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>userMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:rMuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserususerMode:erMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuserMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserMode:serMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMode:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruseruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruserModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuserMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruserMode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::userModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suserMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouserMode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuserMode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:userMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:Mode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMode:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususerMode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuserMode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuserMode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserMode:serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuserMode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruserMode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuserMode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuserMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:Mode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouserMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuserMode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erMode:userMuserMuserMode:ode:ouserMode:deuseuserMode:rMode::userModuserMode:e:useruuserMode:serMuserMode:ode:MouserMode:de:useruserMuserMode:ode:Mode:userMode:userMode:uuserMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususerModeuserMode::erModuserModeuserMode::e:userMuserMode:ode:userMuserMode:odeuseuserModuserMode:userMode:e:rMode::userModuserMode:e:useruserMode:MouserMode:de:userMode:useruserMode:Mode:uuserMode:serMode:useuserMode:rMode:userMode:useuserModuserMode:euserMode::rMouserMode:de:userMuserMode:oduuuserMode:serMode:serModuserMode:e:e:userMode:userMode:userModeuseuserMode:rMode::userMode:useruseuserMode:rMode:userMode:MouserMode:de:userMode:uuserMode:serMode:userMode:useuserModuserMode:e:rMode:userMode:userMuserMode:ouserMode:de:ususerMode:erMode:useuserMode:rMode:userMuseuserMode:rMode:oduserMode:e:userMode:userModeuseuserMode:rMuserMode:ode::userMode:useruseuserMode:rMode:MouserMode:de:uuserModeuserMode::serMode:uuseruserMode:Mode:serMode:userMouserMode:de:useuserMouserMode:deuserMode::rMode:userMode:userMuserModuserMode:e:ode:userModuuserMode:serMode:e:useruserMode:Mode:userModeuseuserMode:rMode::userMode:userMode:useruserMode:MuserMode:ouuserMode:seruserMode:userMode:Mode:userMode:de:userMode:userMode:userMode:userMode:ususerMode:euserMode:rMode:userMuserMode:ode:useruserModeuserMode::Mode:userModuuserMode:serMode:e:userMode:userMode:userMuserMode:odeuseuserMode:rMode::userMode:uuserMode:seruserMouserMode:de:MouserMode:uuserMode:seuserMode:rMode:de:userMode:userMode:ususerMode:erMode:useuserMode:ruserMode:MuserMode:ode:userMode:userMode:userMode:useususerMode:erMode:rModuserMode:euserMode::userMode:userModeususerMode:euserMode:rMode::userMode:uuserMuserMode:ode:seruserMuserMode:ode:MouuserMode:serMode:de:userMode:useruserModuserMode:e:Mode:userMode:userMode:useususerMode:userMode:erMode:rMode:userMode:userMode:userModuserMuserMode:ode:e:uuserMode:serModeuserMode::userModeuseuserMode:rModuserMode:e::uuserMode:serMode:userMode:useruserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuserMode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMode:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserModuserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 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userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:ususerMode:erMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserMode:::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useusuuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserModuserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeuserMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuuserMode:serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouserMode:de:::ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuserMode:userMode:serMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:userModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMouserMode:de:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:ususerMode:erMouserMode:deuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:userMode:Mode:de:useruserMode:Mode:userMouserMode:duserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserModuserMode:e:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:deuserMode::e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:uuserMode:seruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:useuserMode:rMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:ModuserMode:e:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerModeuserMode::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruserMode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserusususerMode:erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserMode:serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserMode:serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouserMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:suserMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:ususeuserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:userMode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:usususerMode:erMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:uuserMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuserMode:euserMode::ususerMode:eruserMode:MouserMode:de:uuserMode:serModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:odeuserMode::ususerMode:euserMouserMode:de:rMode:userMouserMode:de:useruserMode:Mode:userMouserMode:de:userMode:useruserMode:useruserMode:Mode:Mode:userMuserMode:ode:userModuseruseruserMode:Mode:Mode:userMode:e:uuserMode:serModeuserMode:userMode::userMode:userMode:uuserMode:suserMode:eruseuserMouserMode:de:rMode:Mode:useususerMode:erMode:userMode:rMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:uuserMode:serMode:userMuserModeuserMode::oususerMode:erMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userModeuserMode::userModeuseuseruserMode:Mode:rMode::userMode:uuserMode:serMususeuserMode:rMode:erMode:oduserMode:e:useruseruserMode:Mode:MuserMode:ode:ususerMode:erMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:uuserMode:serMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuseuserMode:rMode:seruserMode:ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:MouserMode:de:oduserModeuserMode::euserMode::MouserMode:de:uuserMode:serMode:useruseruserMouserMode:de:Mode:ModususerMode:erMode:e:userMususerMode:erMode:odeuserMode::useruserMode:userModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::useuserMode:userMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seususerMode:erMuserMode:ode:ruserMouserMode:de:MouserMode:de:ususerModeuuserMode:serMode::erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:MouserModuserMode:e:de:userMode:useruseruserModeuserMode::Mode:ModuserMode:euserMode::userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:rMode:useruseuserModeuserMode::rModeuserMode::Mode:useuserMode:rMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:userMode:uususeuserMode:rModuseruseruserMode:Mode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserMode:de:>force[useruserMode:Mode:1], 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57userMode:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserMode:ode:useuserMode:ruserMode:MouserMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:de::rMouserMode:de:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:Mode:userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModuserMode:euserMode:::Mode:userMode:useuserMode:rMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suseuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57userMode:.3userMode:*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:rMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:userMode:userModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.userMode:cpuuserMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->userMode:q[4]userMouserMode:de:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMode:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:Mode:[4]);userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruseruserMouserMode:de:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMuserMode:ode:serMode:useruseruserMode:MouserMode:de:Mode:userModeuserMouserMode:de::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserModuserMode:e::userMode:uuserMode:seruseruserModuserModeuserMode::e:Mode:MuserMode:ode:userModeususerModeuserMode::erMode::useruserMode:ModeuserMuserMode:ode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruseuseruserMode:Mode:rMode:Mode::ususeuserMode:rMode:erMode:useruseruuserMode:serMode:MuserMode:ode:userMode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::uuserMode:serususerModeuserMode::erMuserMode:ode:ModeuserMode::useruserMode:Mode:useuuserMode:serMode:ruseruserMode:userMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::Mode::useruserMode:userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruserMouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:userMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:ModeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruuserMode:serMode:ModeuuserMode:serMode::userMode:useruserususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:userMode:ModeuserModuserMode:e::uuserMode:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuuserMode:serMode::userModeuserMode::uuserMode:seruuserMode:seruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::userMode:useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>userMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:userModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:ruserMode:MuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserususerMode:erMode:ModuserMuserMode:ode:e::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserMode:serMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserMode::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuserModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuserModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruserModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruserMode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suserMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouserMode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::userModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuserMode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:userMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:Mode:rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususerMode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuserMode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuserMode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserMode:Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruserMode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMode:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuserMode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::userMuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:Mode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuserMode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuserMode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuserMode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rMode:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserModuserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:oduserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuserMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouserMode:de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:ususerMode:erMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouserMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useusuuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserModuserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::useruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuuserMode:serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouserMode:de:::ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususerMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuserMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:userModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMouserMode:de:useruserususerMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:uuserMode:suserMode:erMouserMode:deuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:userMode:Mode:de:useruserMode:Mode:userMouserMode:duserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserModuserMode:e:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:deuserMode::e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:uuserMode:seruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:useuserMode:rMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:ModuserMode:e:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruserModuserMode:e:tuserMode:->xeuserMode:ususerModeuserMode::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserusususerMode:erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserMode:serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::Mode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouserMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:suserMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:ususeuserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ode:e:MouserMode:de:usususerMode:erMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seruserModuserMode:e:Mode: rt->F[2useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModeuserMouserMode:duserMode:e::userMode:uuserMode:serMode:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:ModeuuserMode:serMode::rMode:deuserMode::userMode:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:uuserMode:serMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMode:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode::userMouseuseruserMode:Mode:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userMode:userModuserususerMode:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMouserModuserMode:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: 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rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:e:useuserModuserMode:e:ruserModeuserMode::Mode:userMuseruserMode:Mode:odeuserMuserMode:oduserMode:e::userModeuserMode::uuserMode:seruserModuserMode:e:Mode:useuserMode:userMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::uuserMode:serMode:useruuseruseruserMode:ModeuserMode::Mode:serMuserMode:ode:ModuserMode:e:useuseuserMouserMode:de:rMode:rModeuseruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userModeuseruserMode:Mode::userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuserMode:rMode:ModeuserMode::userModeuseususeruserMode:Mode:eruserModeuseruserMode:Mode::ModeususerMode:erMode::rMode::userMuserModeuserMode::ode:useruserMode:MouuserMode:serMode:de:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuserMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:useruserMode:Mode:Mode:serMode:ModeuserMode::MouserModeuseruserMode:Mode::duserMode:userMode:userMode:e:userModeususerMode:erModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouuserMode:serModeuserMode::de::uuserMode:serMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserModeuserMode::userMode::uuserMode:seruuseruserMode:Mode:serMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:serusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuseruserMode:Mode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::userMode:ode: 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userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:Mode:[4]);userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruseruserMouserMode:de:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMuserMode:ode:serMode:useruseruserMode:MouserMode:de:Mode:userModeuserMouserMode:de::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserModuserMode:e::userMode:uuserMode:seruseruserModuserModeuserMode::e:Mode:MuserMode:ode:userModeususerModeuserMode::erMode::useruserMode:ModeuserMuserMode:ode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruseuseruserMode:Mode:rMode:Mode::ususeuserMode:rMode:erMode:useruseruuserMode:serMode:MuserMode:ode:userMode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de:userMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::uuserMode:serususerModeuserMode::erMuserMode:ode:ModeuserMode::useruserMode:Mode:useuuserMode:serMode:ruseruserMode:userMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::ususerMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::Mode::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruserMouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:userMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:ModeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruuserMode:serMode:ModeuuserMode:serMode::userMode:useruserususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userMuserMode:odeuserMode::useruserMode:userMode:ModeuserModuserMode:e::uuserMode:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuuserMode:serMode::userModeuserMode::uuserMode:seruuserMode:seruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::userMode:useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userModeuserMode:: rt-userMode:>userMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:ruserMode:MuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserMode:serMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:Mode:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuserMode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:useruserMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususerMode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rMode:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruserMode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=userModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suserMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouserMode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerModeuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuserMode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:userMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuserMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususerMode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuserMode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:Mode::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususerMode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuserMode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModuserMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruserMode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuserMode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModeuserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:Mode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserMode:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuserMode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuserMode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserModuserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:oduserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuserMode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouserMode:de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:ususerMode:erMode:useruseruserMode:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useusuuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserModuserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:serMode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuuserMode:serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouserMode:de:::ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuseruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuserMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:userModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMouserMode:de:useruserususerMode:userMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:uuserMode:suserMode:erMouserMode:deuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:userMode:Mode:de:useruserMode:Mode:userMouserMode:duserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserModuserMode:e:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:deuserMode::e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:uuserMode:seruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:useuserMode:rMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::euseruserMode:ModuserMode:e:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserMode::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserusususerMode:erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserMode:serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMuserMode:ode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:useuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouserMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:suserMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuserMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usususerMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuserMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seruserModuserMode:e:Mode: 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57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:rMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:userMode:userModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.userMode:cpuususerMode:erMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->userMode:q[4]userMouserMode:de:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMuserMode:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMode:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:Mode:[4]);userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruseruserMouserMode:de:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMuserMode:ode:serMode:useruseruserMode:MouserMode:de:Mode:userModeuserMouserMode:de::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserModuserMode:e::userMode:uuserMode:seruseruserModuserModeuserMode::e:Mode:MuserMode:ode:userModeususerModeuserMode::erMode::useruserMode:ModeuserMuserMode:ode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruseuseruserMode:Mode:rMode:Mode::ususeuserMode:rMode:erMode:useruseruuserMode:serMode:MuserMode:ode:userMode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de:userMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::uuserMode:serususerModeuserMode::erMuserMode:ode:ModeuserMode::useruserMode:Mode:useuuserMode:serMode:ruseruserMode:userMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::Mode::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruserMouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:userMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:ModeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruuserMode:serMuserMode:ode:ModeuuserMode:serMode::userMode:useruserususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userMuserMode:odeuserMode::useruserMode:userMode:ModeuserModuserMode:e::uuserMode:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuuserMode:serMode::userModeuserMode::uuserMode:seruuserMode:seruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::userMode:useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMode:Mode:Mode:userMode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userMode:userModeuserMode:: rt-userMode:>userMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:ruserMode:MuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserMode:serMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:useruseuserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:ModeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeuseruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruserMode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MouserMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suserMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouserMode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuserMode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:userMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususerMode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuserMode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserMode:tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususerMode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuserMode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuserMode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususerMode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruserMode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuserMode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:Mode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serMode:userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuserMode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erMode:Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuserMode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserModuserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuserMode:seuserMode:rMuserMode:ode:userMuserMode:oduserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouserMode:de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::userModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luseruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useusuuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserModuserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuserMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:userModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuuserMode:serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouserMode:de:::ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuserMode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuserMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:useruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMouserMode:de:useruserususerMode:userMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:uuserMode:suserMode:erMouserMode:deuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:userMode:Mode:de:useruserMode:Mode:userMouserMode:duserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserModuserMode:e:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:deuserMode::e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:uuserMode:seruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:useuserMode:rMode:e:ususerMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::eususerMode:eruserMode:ModuserMode:e:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserMode::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserusususerMode:erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuserMode::serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMuserMode:ode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:Mode:userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userMode:], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouserMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:suserMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usususerMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seruserModuserMode:e:Mode: rt->F[2useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModeuserMouserMode:duserMode:e::userMode:uuserMode:serMode:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:ModeuuserMode:serMode::rMode:deuserMode::userMode:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserModuserMode:e:Mode:userMode:uuserMode:serMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouserMode:de:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode::useruserMode:MouseuseruserMode:Mode:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userMode:userModuserususerMode:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMouserModuserMode:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: 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userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:Mode:[4]);userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruseruserMouserMode:de:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMuserMode:ode:serMode:useruseruserMode:MouserMode:de:Mode:userModeuserMouserMode:de::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserModuserMode:e::userMode:uuserMode:seruseruserModuserModeuserMode::e:Mode:MuserMode:ode:userModeususerModeuserMode::erMode::useruserMode:ModeuserMuserMode:ode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruseuseruserMode:Mode:rMode:Mode::ususeuserMode:rMode:erMode:useruseruuserMode:serMode:MuserMode:ode:userMode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de:userMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::uuserMode:serususerModeuserMode::erMuserMode:ode:ModeuserMode::useruserMode:Mode:useuuserMode:serMode:ruseruserMode:userMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 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5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserMode:userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::Mode::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruserMouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:userMode:erModuserMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruuserMode:serMuserMode:ode:ModeuuserMode:serMode::userMode:useruserususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userMuserMode:odeuserMode::useruserMode:userMode:ModeuserModuserMode:e::uuserMode:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuuserMode:serMode::userModeuserMode::uuserMode:seruuserMode:seruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::userMode:useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMuserMode:ode:Mode:Mode:userMode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userMode:userModeuserMode:: rt-userMode:>userMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:ruserMode:MuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode:userMode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserMode:serMode::useuserMode:rModuserMode:e:userMode:useruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserModeuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModeuserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userMode:userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruserMode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserMode:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suserMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouserMode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserMode:Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuserMode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:userMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMouserMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususerMode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuserMode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususerMode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userModususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuserMode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (userMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususerMode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruserMode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserMode:de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuserMode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:ususerMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:Mode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuserMode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:userModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userMode:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserModuserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 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57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuuserMode:serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouserMode:de:::ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rModuserModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseruserMode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuserMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMouserMode:de:useruserususerMode:userMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:uuserMode:suserMode:erMouserMode:deuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:userMode:Mode:de:useruserMode:Mode:userMouserMode:duserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserModuserMode:e:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:deuserMode::e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:uuserMode:seruserMode:Mode:userMuserMode:ode:useuserMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:useuserMode:rMode:e:ususeuserMode:rMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::eususerMode:eruserMode:ModuserMode:e:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserMode::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModuserMode:e:userMouserusususerMode:erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuserMode::serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], 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rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouserMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usususerMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:uuserMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuserMode:euserMode::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:odeuserMode::ususerMode:euserMouserMode:de:rMode:userMouserMode:de:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:ruserMode:useruserMode:Mode:Mode:userMuserMode:ode:userModuseruseruserMode:Mode:Mode:userMode:e:uuserMode:serModeuserMode:userMode::userMode:userMode:uuserMode:suserMode:eruseuserMouserMode:de:rMode:Mode:useususerMode:erMode:userMode:rMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:serMode:userMuserModeuserMode::oususerMode:erMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userModeuserMode::userModeuseuseruserMode:Mode:rMode::userMode:uuserMode:serMususeuserMode:rMode:erMode:oduserMode:e:useruseruserMode:Mode:MuserMode:ode:usuuserMode:serMode:erMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:uuserMode:serMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuseuserMode:rMode:seruserMode:ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:MouserMode:de:oduserModeuserMode::euserMode::MouserMode:de:uuserMode:serMode:useruseruserMouserMode:de:Mode:ModususerMode:erMode:e:userMususerMode:erMode:odeuserMode::useruserMode:userModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode::useuserMode:userMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seususerMode:erMuserMode:ode:ruserMouserMode:de:MouserMode:de:ususerModeuuserMode:serMode::erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:MouserModuserMode:e:de:userMode:useruseruserModeuserMode::Mode:ModuserMode:euserMode::userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:rMode:useruseuserModeuserMode::rModeuserMode::Mode:useuserMode:rMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:userMode:uususeuserMode:rModuseruseruserModuserMode:e:Mode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserMode:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:userMode:e:useuserModuserMode:e:ruserModeuserMode::Mode:userMuseruserMode:Mode:odeuserMuserMode:oduserMode:e::userModeuserMode::uuserMode:seruserModuserMode:e:Mode:useuserMode:userMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:userMode:::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::uuserMode:serMode:useruuseruseruserMode:ModeuserMode::Mode:serMuserMode:ode:ModuserMode:e:useuseuserMouserMode:de:rMode:rModeuseruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userModeuseruserMode:Mode::userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuserMode:rMode:ModeuserMode::userModeuseususeruserMode:Mode:eruserModeuseruserMode:Mode::ModeususerMode:erMode::rMode::userMuserModeuserMode::ode:useruserMode:MouuserMode:serMode:de:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserMode:Mode::useruserMode:ModeuserMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:useruserMode:Mode:Mode:serMode:ModeuserMode::MouserModeuseruserMode:Mode::duserMode:userMode:userMode:e:userModeususerMode:erModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouuserMode:serModeuserMode::de::uuserMode:serMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserModeuserMode::userMode::uuserMode:seruuseruserMode:Mode:serMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:suserMode:erusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuseruserMode:Mode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::userMode:ode: 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57userMouserMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserMode:ode:useuserMode:ruserMode:MouserMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuserMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:erMode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:Mode:userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModuserMode:euserMode:::Mode:userMode:useuserMode:rMode:userMode:userModuserMode:euserMode:userMode::uuserModeuserMode::suseuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			57userMode:.3userMode:*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:rMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.userMode:cpuususerMode:erMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->userMode:q[4]userMouserMode:de:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMuserMode:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMode:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:Mode:[4]);userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruseruserMouserMode:de:Mode:Mode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:userMode:ModeuserMuserMode:ode:userMode::ususerMode:erMode:useuserMode:ruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rModeuserMode:userMode::userususerMode:erMode:MuserMouserMode:de:odeuserMode::uuserMuserMode:ode:serMode:useruseruserMode:MouserMode:de:Mode:userModeuserMouserMode:de::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userModeuserMode::useruserMode:ModeuserMuserMode:ode::userMode:useruseuserMode:ruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:userMode:userMuserModeuseruserMode:Mode::ode:Mode:Mode:userModeuseuserMode:rMode::useuserMode:ruserMususerMode:erMode:ode:ModeuserModuserMode:e::userMode:uuserMode:seruseruserModuserModeuserMode::e:Mode:MuserMode:ode:userModeususerModeuserMode::erMode::useruserMode:ModeuserMuserMode:ode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userModeuserMode::useruseruserMode:Mode:Mode:userModeuserMode::useruseuserMode:rMode:ModeuserMode::userMode:useruseruserMode:userModeuserMode::ModeuserMode::Mode:userModeuserMode::useruserModuserMode:e:userMode:ModeuseruseuseruserMode:Mode:rMode:Mode::ususeuserMode:rMode:erMode:useruseruuserMode:serMode:MuserMode:ode:userMode:Mode:userModeuserMode::useruserMode:MouserMode:deuserMouserMode:de:userMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserModeuserMode:userMode::Mode:ModeuseruserMode:Mode::ususerMode:erModeuserMode::uuserMode:serususerModeuserMode::erMuserMode:ode:ModeuserMode::useruserMode:Mode:useuuserMode:serMode:ruseruserMode:userMode:Mode:Mode:userModeuseuserMode:rMode::useruserMode:ModeuuserMode:serMode::userMode:useruseruserMode:Mode:MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::Mode::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruserMouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruuserMode:serMuserMode:ode:ModeuuserMode:serMode::userMode:useruserususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userMuserMode:odeuserMode::useruserMode:userMode:ModeuserModuserMode:e::uuserMode:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuuserMode:serMode::userModeuserMode::uuserMode:seruuserMode:seruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:Mode:useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMuserMode:ode:Mode:Mode:userMode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userMode:userModeuserMode:: rt-userMode:>userMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseuserMode:rMode:ruserMode:MuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuserMode:useruserMode:Mode::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode:userMode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserMode:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruserMode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userModeuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rModeuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuserMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMode::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruserMode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suserMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouserMode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserMode:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuserMode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:userMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserMode::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususerMode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuserMode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserMode:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususerMode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuserMode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuserMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususerMode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruserMode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuserMode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:rMouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:Mode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:ode:useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuserMode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerModuseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserModuserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rMode:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:useruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:oduserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouserMode:de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:Mode:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useusuuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserModuserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserMode:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuuserMode:serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouserMode:de:::ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:oduserModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseruserMode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuserMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:userModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMouserMode:de:useruserususerMode:userMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:uuserMode:suserMode:erMouserMode:deuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:userMode:Mode:de:useruserMode:Mode:userMouserMode:duserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserModuserMode:e:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:deuserMode::e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rModeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:uuserMode:seruserMode:Mode:userMuserMode:ode:useususerMode:erMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:useuserMode:rMode:e:ususeuserMode:rMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::eususerMode:eruserMode:ModuserMode:e:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserMode::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerMode:erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuserMode::serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMuserMode:ode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ode:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeususerMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usususerMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuserMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seruserModuserMode:e:Mode: 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57ususerMode:euserMode:rMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rMode:userMuserMode:ouserMode:de:useruserMode:Mode:userModususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.userMode:cpuususerMode:erMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->userMode:q[4]userMouserMode:de:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMuserMode:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMode:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModeuseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::Mode::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModeuseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruuserMode:serMuserMode:ode:ModeuuserMode:serMode::userMode:useruserususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userMuserMode:odeuserMode::useruserMode:userMode:ModeuserModuserMode:e::uuserMode:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuuserMode:serMode::useruserMode:ModeuserMode::uuserMode:seruuserMode:seruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:Mode:useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMuserMode:ode:Mode:Mode:userMode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],userMode:userModeuserMode:: rt-userMode:>userMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rMode:useruserMode:ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuseuserMode:rMode:ruserMode:MuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuserMode:useruserMode:Mode::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode:userMode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuserususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserMode:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::useruserModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::ModeuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserMode:euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModuserMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suserMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouserMode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:userMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuserMode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:userMode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuserMode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususerMode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuserMode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususerMode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuserMode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususerMode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruserMode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:serMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuserMode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:serMouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:Mode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userMode:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMode:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:serMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserModuserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 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userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useusuuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserModuserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuserMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuserMode:userModeuuserMode:serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:oduserModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseruserMode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuserMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:userMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMouserMode:de:useruserususerMode:userMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:uuserMode:suserMode:erMouserMode:deuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:userMode:Mode:de:useruserMode:Mode:userMouserMode:duserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserModuserMode:e:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserMode:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:deuserMode::e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rMuserMode:odeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:uuserMode:seruserMode:Mode:userMuserMode:ode:useususerMode:erMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:useuserMode:rMode:e:ususeuserMode:rMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::eususerMode:eruserMode:ModuserMode:e:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserMode::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rMode:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerMode:erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuserMode::serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMuserMode:ode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeuuserMode:suserMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usususerMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:userMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModeuserMouserMode:duserMode:e::userMode:uuserMode:serMode:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode::rMode:deuserMode::userMode:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:userModuserMode:e:Mode:userMode:uuserMode:serMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouserMode:de:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode::useruserMode:MouseuseruserMode:Mode:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userMode:userModuserususerMode:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMouserModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuserMode:euserMode::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:odeuserMode::ususerMode:euserMouserMode:de:rMode:userMouserMode:de:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:ruserMode:useruserMode:Mode:Mode:userMuserMode:ode:userModuseruseruserMode:Mode:Mode:userMode:e:uuserMode:serModeuserMode:userMode::userMode:userMode:uuserMode:suserMode:eruseuserMouserMode:de:rMode:Mode:useususerMode:erMode:userMode:rMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:serMode:userMuserModeuserMode::oususerMode:erMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userModeuserMode::userModeuseuseruserMode:Mode:rMode::userMode:uuserMode:serMususeuserMode:rMode:erMode:oduserMode:e:useruseruserMode:Mode:MuserMode:ode:usuuserMode:serMode:erMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:uuserMode:serMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuseuserMode:rMode:seruserMode:ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:MouserMode:de:oduserModeuserMode::euserMode::MouserMode:de:uuserMode:serMode:useruseruserMouserMode:de:Mode:ModususerMode:erMode:e:userMususerMode:erMode:odeuserMode::useruserMode:userModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:userMode:rMode:ModeuserMode::useuserMode:userMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seususerMode:erMuserMode:ode:ruserMouserMode:de:MouserMode:de:ususerModeuuserMode:serMode::erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:MouserModuserMode:e:de:userModuserMode:e:useruseruserModeuserMode::Mode:ModuserMode:euserMode::userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:rMode:useruseuserModeuserMode::rModeuserMode::Mode:useuserMode:rMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:userMode:uususeuserMode:rModuseruseruserModuserMode:e:Mode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserMode:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:userMode:e:useuserModuserMode:e:ruserModeuserMode::Mode:userMuseruserMode:Mode:odeuserMuserMode:oduserMode:e::userModeuserMode::uuserMode:seruserModuserMode:e:Mode:useuserMode:userMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:userMode:::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::uuserMode:serMode:useruuseruseruserMode:ModeuserMode::Mode:serMuserMode:ode:ModuserMode:e:useuseuserMouserMode:de:rMode:rModeuseruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userModeuseruserMode:Mode::userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuserMode:rMode:ModeuserMode::userModeuseususeruserMode:Mode:eruserModeuseruserMode:Mode::ModeususerMode:erMode::rMode::userMuserModeuserMode::ode:useruserMode:MouuserMode:serMode:de:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuserMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:useruserMode:Mode:Mode:serMode:ModeuserMode::MouserModeuseruserMode:Mode::duserMode:userMode:userMode:e:userModeususerMode:erModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouuserMode:serModeuserMode::de::uuserMode:suserMode:erMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserModeuserMode::userMode::uuserMode:seruuseruserMode:Mode:serMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:suserMode:erusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuseruserMode:Mode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::userMode:ode: 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rt-userMode:>userMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserMode:ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuseuserMode:rMode:ruserMode:MuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuserMode:useruserMode:Mode::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode:userMode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fususerMode:eruseruseruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserMode:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rModuseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruserModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususerMode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruserMode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suserMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouserMode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuserMode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuserMode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususerMode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuserMode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserMode:e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususerMode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserMode:] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuserMode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtuserMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususerMode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruserMode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuserMode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:Mode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMode:userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userMode:Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserModuserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			userMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:oduserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouserMode:de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useusuuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserModuserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuseuserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_org.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserMode:serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:oduserModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseruserMode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuserMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:userMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMouserMode:de:useruserususerMode:userMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:uuserMode:suserMode:erMouserMode:deuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:userMode:Mode:de:useruserMode:Mode:userMouserMode:duserMode:e:ususerMode:erMuserMode:ode:useruseuuserMode:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserModuserMode:e:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserModuserMode:e:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:deuserMode::e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rMuserMode:odeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:uuserMode:seruserMode:Mode:userMuserMode:ode:useususerMode:erMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:useuserMode:rMode:e:ususeuserMode:rMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::eususerMode:eruserMode:ModuserMode:e:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserMode::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuseruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerMode:erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuserMode::serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMuserMode:ode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:userMode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:userMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeuuserMode:suserMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usususerMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode:userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: 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57.3*rt->useruserMode:Mode:q[4]userMouserMode:de:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMuserMode:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userModuserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruserMode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruserMode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::Mode::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruuserMode:serMuserMode:ode:ModeuuserMode:serMode::userMode:useruserMode:userususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userMuserMode:odeuserMuserMode:ode::useruserMode:userMode:ModeuserModuserMode:e::uuserMode:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuuserMode:serMode::useruserMode:ModeuserMode::uuserMode:seruuserMode:seruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:Mode:useruserMode:ModeuserModeuserMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMuserMode:ode:Mode:Mode:userMode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuserMode:: rt-userMode:>userMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserMode:ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuseuserMode:rMode:ruserMode:MuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuserMode:useruserMode:Mode::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode:userMode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuserMode:serMode:eruseruseruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserMode:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuseruserModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rModuserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuserMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suserMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:userMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuserMode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:userMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuserMode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususerMode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuserMode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMode:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususerMode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuserModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuserMode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususerMode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuserMode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:Mode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:de:useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:userModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			rt->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserModuserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserMode:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:oduserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouserMode:de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruseuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useusuuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserMode:duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuseuserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMode:deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserMode:serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:oduserModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseruserMode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuserMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuserModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMouserMode:de:useruserususerMode:userMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:uuserMode:suserMode:erMouserMode:deuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suserMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:userMode:Mode:de:useruserMode:Mode:userMouserMode:duserMode:e:ususerMode:erMuserMode:ode:useruseuuserMouserMode:de:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserModuserMode:e:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserModuserMode:e:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:deuserMode::e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rMuserMode:odeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:uuserMode:seruserMode:Mode:userMuserMode:ode:useususerMode:erMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:useuserMode:rMode:e:ususeuserMode:rMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::eususerMode:eruserMode:ModuserMode:e:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], 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rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMuserMode:ode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:userMode:duserususerMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:userMuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiredForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useruserMode:Mode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:userMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeuuserMode:suserMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usususerMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode:userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuserMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:userModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModeuserMouserMode:duserMode:e::userMode:uuserMode:serMode:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode::rMode:deuserMode::userMode:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:userModuserMode:e:Mode:userMode:uuserMode:serMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouserMode:de:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode::useruserMode:MouseuseruserMode:Mode:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::userModuserususerMode:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruserMode:Mode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMouserModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuserMode:euserMode::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:odeuserMode::ususerMode:euserMouserMode:de:rMode:userMouserMode:de:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:ruserMode:useruserMode:Mode:Mode:userMuserMode:ode:userModuseruseruserMode:Mode:Mode:userMode:e:uuserMode:serModeuserMode:userMode::userMode:userMode:uuserMode:suserMode:eruseuserMouserMode:de:rMode:Mode:useususerMode:erMode:userMode:rMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:serMode:userMuserModeuserMode::oususerMode:erMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userModeuserMode::userModeuseuseruserMode:Mode:rMode::userMode:uuserMode:serMususerMode:useuserMode:rMode:erMode:oduserMode:e:useruseruserMode:Mode:MuserMode:ode:usuuserMode:serMode:erMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:uuserMode:serMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuseuserMode:rMode:seruserModeuserMode::ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:MouserMode:de:oduserModeuserMode::euserMode::MouserMode:de:uuserMode:serMode:useruseruserMouserMode:de:Mode:ModususerMode:erMode:e:userMususerMode:erMode:odeuserMode::useruserMode:userModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:userMode:rMode:ModeuserMode::useuserMode:userMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seususerMode:erMuserMode:ode:ruserMouserMode:de:MouserMode:de:ususerModeuuserMode:serMode::erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:MouserModuserMode:e:de:userModuserMode:e:useruseruserModeuserMode::Mode:ModuserMode:euserMode::userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:rMode:useruseuserModeuserMode::rModeuserMode::Mode:useuserMode:rMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:userMode:uususeuserMode:rModuseruseruserModuserMode:e:Mode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserMode:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)userModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:userMode:e:useuserModuserMode:e:ruserModeuserMode::Mode:userMuseruserMode:Mode:odeuserMuserMode:oduserMode:e::userModeuserMode::uuserMode:seruserModuserMode:e:Mode:useuserMode:userMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:userMode:::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::uuserMode:serMode:useruuseruseruserMode:ModeuserMode::MouserMode:de:serMuserMode:ode:ModuserMode:e:useuseuserMouserMode:de:rMode:rModeuseruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userModeuseruserMode:Mode::userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuseruserMode:Mode:rMode:ModeuserMode::userModeuseususeruserMode:Mode:eruserModeuseruserMode:Mode::ModeususerMode:erMode::rMode::userMuserModeuserMode::ode:useruserMode:MouuserMode:serMode:de:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuserMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:useruserMode:Mode:Mode:serMode:ModeuserMode::MouserModeuseruserMode:Mode::duserMode:userMode:userMode:e:userModeususerMode:erModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouuserMode:serModeuserMode::de::uuserMode:suserMode:erMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserModeuserMode::userMode::uuserMode:seruuseruserMode:Mode:serMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:suserMode:erusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuseruserMode:Mode:e:org.cpp:						ruserMode:t->F[1],userMuserModeuserMode::userMode:ode: 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rt-userMode:>userMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserMode:ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuseuserMode:rMode:ruserMode:MuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserMode:ModeuserMode:useruserMode:Mode::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruserMode:Mode:userMode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuserMode:serMode:eruseruseruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserMode:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:eruserMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuseuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserMode:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMode:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suserMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuserMode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:euseuserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuserMode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususerMode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuserMode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserMode:e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususerMode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuserMode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:Mode:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususerMode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserMode:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuserMode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:userModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:Mode:Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserMode:euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruserMode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserModuserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuserMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:oduserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruserMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouserMode:de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:useuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useusuuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserMode:duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuseuserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuserMode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserMode:serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:oduserModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseruserMode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuserMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMouserMode:de:useruserususerMode:userMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserMode:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:uuserMode:suserMode:erMouserMode:deuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suseuserMode:rMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:userMode:Mode:de:useruserMode:Mode:userMouserMode:duserMode:e:ususerMode:erMuserMode:ode:useruseuuserMouserMode:de:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserModuserMode:e:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserModuserMode:e:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:deuserMode::e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rMuserMode:odeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:uuserMode:seruserMode:Mode:userMuserMode:ode:useususerMode:erMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:useuserMode:rMode:e:ususeuserMode:rMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::eususerMode:eruserMode:ModuserMode:e:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserMode::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerMode:erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuserMode::serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMode:rMuserMode:ode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duserususerMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:userMuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuserMode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiruserMode:edForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useruserMode:Mode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:userMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeuuserMode:suserMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:erMode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usususerMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode:userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: 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57ususerMode:euserMode:rMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.userMode:cpuususerMode:erMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:de:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMuserMode:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userModuserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:Mode:useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userMode:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::Mode::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserususerMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruuserMode:serMuserMode:ode:ModeuuserMode:serMode::userMode:useruserMode:userususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userMuserMode:odeuserMuserMode:ode::useruserMode:userMode:ModeuserModuserMode:e::uuserMode:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuuserMode:serMode::useruserMode:ModeuserMode::uuserMode:seruuserMode:seruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:Mode:useruserMode:ModeuserModeuuserMode:serMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMuserMode:ode:Mode:ModeuserMode::userMode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuserMode:: rt-userMode:>userMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserMode:ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuseuserMode:rMode:ruserMode:MuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:Mode::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruserMode:Mode:userMode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuserMode:serMode:eruseruseruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseruseruserMode:ModeuseuserMode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserModuserMode:e:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserMode:Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::ModuserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususerMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:Mode:de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suserMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserMode::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuserMode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuserMode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususerMode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuserMode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuserMode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususerMode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuserMouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuserMode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuserMuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususerMode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuserMode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuserMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruserMode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuserususerMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:oduserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruserMode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserModuserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuseuserMode:rMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 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userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouserMode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useusuuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserMode:duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuseuserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rModuserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserMode:serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:oduserModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseruserMode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouserMode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususerMuserMode:ode:erMuserMouserMouserMode:de:duserMode:e:oduserMode:e:userMouserMode:de:useruserususerMode:userMode:erMode:Mode:Mode:userModeuserModuserMode:e::useuserModeuserMode::rMode:useruserMode:Mode:useruserModeuserMode::ModuserModuserMode:e:e:userMouseruserMode:Mode:de:userMode:useruserMode:Mode:useruuserMode:serMode:ModuserMode:e:userMode:uuserMode:suserMode:erMouserMode:deuserMode::ususerMuserMode:ode:euserMode:rMuserMode:odeuserMode::userMode:userMode:uuserMode:suseuserMode:rMode:eruserMode:ModeuserMode::useuseuserMode:rMode:ruserModeuserMode::Mode:userMode:userMode:useruseuserMode:rMode:MouseruserMode:userMode:Mode:de:useruserMode:Mode:userMouserMode:duserMode:e:ususerMode:erMuserMode:ode:useruseuuserMouserMode:de:serMode:rMuserMode:ode:Mode:usuuserMode:serMode:erMuseuseuserMode:rMode:rMode:ode:userMode:userMode:userMode:uuserMode:seruseruserMode:ModeuserModuserMode:e:userMode::userMode:MouserMode:de:userMode:userMode:userMouserMode:duserModuserMode:e:e:userususeruserMode:ModuseuserMode:rModuserMode:e:e:erMode:ModuserMode:e:userModeuserMode::userMuserMode:ode:userMode:ususerMode:erMode:useuserMode:ruserModuserMouserMode:deuserMode::e:MuserMode:ode:userMode:userMode:userMode:useuserMode:rMuserMode:odeususerMode:erModuserMode:e::useuserMode:ruserMode:userMode:MouserMode:de:userMode:userModuserMode:userMode:e:ususerMode:erMouseruseuseuserMode:rMode:rMode:Mode:deuserMode::ususerMode:erMode:uuserMode:seruserMode:Mode:userMuserMode:ode:useususerMode:erMode:rMode:userModeuserMode::ususerMode:erMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:ModeuuserMode:serMode::uuserMode:seuserMode:ruserMode:Mode:userMode:ususeruuserMode:serMode:Mode:erMode:userModuserMode:useuserMode:rMode:e:ususeuserMode:rMode:eruserMode:usususerMode:eruserMode:Mode:erMode:Mode:userMode:userMode:useuserMode:rMuserMode:ouserMode:de:userModeuserMode::userMode:usuuserMode:serMode:eruuserMode:serMode:Mode:userMode:userModeuserMode::userMode:ususerModeuserMode::eususerMode:eruserMode:ModuserMode:e:ruserMode:ModuserMode:e:userMouserMuserMode:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerMode:erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuserMode::serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duserususerMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:userMuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeuserMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiruserMode:edForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useruserMode:Mode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:userMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeuuserMode:suserMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usususerMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode:userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuserModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModeuserMouserMode:duserMode:e::userMode:uuserMode:serMode:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode::rMode:deuserMode::userMode:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:userModuserMode:e:Mode:userMode:uuserMode:serMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserMode:MouseuseruserMode:Mode:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::userModuserususerMode:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruserMode:Mode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMouserModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuserMode:euserMode::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:odeuserMode::ususerMode:euserMouserMode:de:rMode:userMouuserMode:serMode:de:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:ruserMode:useruserMode:Mode:Mode:userMuserMode:ode:userModuseruseruserMode:Mode:Mode:userMode:e:uuserMode:serModeuserMode:userMode::userMode:userMode:uuserMode:suserMode:eruseuserMouserMode:de:rMode:Mode:useususerMode:erMode:useruserMode:Mode:rMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:serMode:userMuserModeuserMode::oususerMode:erMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userModeuserMode::userModeuseuseruserMode:Mode:rMode::userMode:uuserMode:serMususerMode:useuserMode:rMode:erMode:oduserMode:e:useruseruserMode:Mode:MuserMode:ode:usuuserMode:serMode:erMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:uuserMode:serMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuseuserMode:rMode:seruserModeuserMode::ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:MouserMode:de:oduserModeuserMode::euserMode::MouserMode:de:uuserMode:serMode:useruseruserMouserMode:de:Mode:ModususerMode:erMode:e:userMususerMode:erMode:odeuserMode::useruserMode:userModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:userMode:rMode:ModeuserMode::useuserMode:userMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seususerMode:erMuserMode:ode:ruserMouserMode:de:MouserMode:de:ususerModeuuserMode:serMode::erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:MouserModuserMode:e:de:userModuserMode:e:useruseruserModeuserMode::Mode:ModuserMode:euserMode::userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:rMode:useruseuserModeuserMode::rModeuserMode::Mode:useuserMode:rMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:userMode:uususeuserMode:rModuseruseruserModuserMode:e:Mode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserMode:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:userMode:e:useuserModuserMode:e:ruserModeuserMode::Mode:userMuseruserMode:Mode:odeuserMuserMode:oduserMode:e::userModeuserMode::uuserMode:seruserModuserMode:e:Mode:useuserModeuserMode::userMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:userMode:::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::uuserMode:serMode:useruuseruseruserMode:ModeuserMode::MouserMode:de:serMuserMode:ode:ModuserMode:e:useuseuserMouserMode:de:rMode:rModeuseruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userModeuseruserMode:Mode::userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuseruserMode:Mode:rMode:ModeuserMode::userModeuseususeruserMode:Mode:eruserModeuseruserMode:Mode::ModeususerMode:erMode::rMode::userMuserModeuserMode::ode:useruserMode:MouuserMode:serMode:de:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuserMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:useruserMode:Mode:Mode:serMode:ModeuserMode::MouserModeuseruserMode:Mode::duserMode:userMode:userMode:e:userModeususerMode:erModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouuserMode:serModeuserMode::de::uuserMode:suserMode:erMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuserModeuserMode::userMode::uuserMode:seruuseruserMode:Mode:serMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:suserMode:erusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuseruserMode:Mode:e:org.cpp:						ruserMode:t->F[1],userMuserModeususerMode:erMode::userMode:ode: 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rt-userMode:>userMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserMode:ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:Mode::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruserMode:Mode:userMode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuserMode:serMode:eruseruseruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseruserMode:Mode:ModeuseruserMode:ususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseruserMode:ModeuseuserMode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserModuserMode:e:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:userMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userususerMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuserMode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suserMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::userMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMode:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuserMode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususerMode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMode:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:Mode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuserMode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususerMode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuserMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuserMode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususerMode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserModeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuserMode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruserMode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couuserMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouususerMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:oduserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruserMode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:userMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMouserMode:duserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuseuserMode:rMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:oduserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModuserMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserMode:Mode:de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useusuuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserMode:duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuseuserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouseruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserMode:serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:oduserModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseruserMode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserMode:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususeuserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerMode:erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duserususerMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:userMuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiruserMode:edForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useruserMode:Mode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:userMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeuuserMode:suserMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuserMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserModeuserMode::serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usususerMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode:userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMode:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMode:rMode:userMode:userMode:uuserMode:serMode:userModeuserMouserMode:duserMode:e::userMode:uuserMode:serMode:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode::rMode:deuserMode::userMode:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:serMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserMode:MouseuseruserMode:Mode:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::userModuserususerMode:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruserMode:Mode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMouserModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMode:userMode:useruserMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuserMode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:odeuserMode::ususerMode:euserMouserMode:de:rMode:userMouuserMode:serMode:de:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:ruserMode:useruserMode:Mode:Mode:userMuserMode:ode:userModuseruseruserMode:Mode:Mode:userMode:e:uuserMode:serModeuserMode:userMode::userMode:userMode:uuserMode:suserMode:eruseuserMouserMode:de:rMode:Mode:useususerMode:erMode:useruserMode:Mode:rMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:serMode:userMuserModeuserMode::oususerMode:erMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userModeuserMode::userModeuseuseruserMode:Mode:rMode::userMode:uuserMode:serMususerMode:useuserMode:rMode:erMode:oduserMode:e:useruseruserMode:Mode:MuserMode:ode:usuuserMode:serMode:erMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:uuserMode:serMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuseuserMode:rMode:seruserModeuserMode::ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:MouserMode:de:oduserModeuserMode::euserMode::MouserMode:de:uuserMode:serMode:useruseruserMouserMode:de:Mode:ModususerMode:erMode:e:userMususerMode:erMode:odeuserMode::useruserMode:userModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:userMode:rMode:ModeuserMode::useuserMode:userMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seususerMode:erMuserMode:ode:ruserMouserMode:de:MouserMode:de:ususerModeuuserMode:serMode::erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:MouserModuserMode:e:de:userModuserMode:e:useruseruserModeuserMode::Mode:ModuserMode:euserMode::userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:rMode:useruseuserModeuserMode::rModeuserMode::Mode:ususerMode:euserMode:rMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:userMode:uususeuserMode:rModuseruseruserModuserMode:e:Mode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserMode:de:>force[useruserMode:Mode:1], 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57.3*rt->useruserMode:Mode:q[4]userMouserMode:de:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:userModeuserMode::userMode:userMode:userMuserMode:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userModuserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::Mode::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruuserMode:serMuserMode:ode:ModeuuserMode:serMode::userMode:useruserMode:userususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:serMode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userMuserMode:odeuserMuserMode:ode::useruserMode:userMode:ModeuserModuserMode:e::uuserModuserMode:e:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuuserMode:serMode::useruserMode:ModeuserMode::uuserMode:seruuserMode:seruserMode:userMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:Mode:useruserMode:ModeuserModeuuserMode:serMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMuserMode:ode:Mode:ModeuserMode::userMode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuserMode:: rt-userMode:>userMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:Mode::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruserMode:Mode:userMode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuserMode:serMode:eruseruseruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseruserMode:ususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseruserMode:ModeuseuserMode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserModuserMode:e:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuserMode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMode:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususerMode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:e:userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMode:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suserMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserMode:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuserMode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususerMode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMode:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:Mode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuserMode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususerMode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuserMode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouserMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususerMode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserMode:ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuserMode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruserMode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduserMode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserModeuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:oduserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruserMode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuserMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMouserMode:duserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuseuserMode:rMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:oduserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMode:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserMode:Mode:de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]userModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useusuuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserMode:duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuseuserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserMode:serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:oduserModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseruserMode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserMode:e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususeuserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerMode:erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duserususerMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:userMuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:userMode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiruserMode:edForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useruserMode:Mode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:userMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeuuserMode:suserMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:ode:useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuseuserMode:rMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserModeuserMode::serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usususerMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode:userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuserMode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:odeuserMode::ususerMode:euserMouserMode:de:rMode:userMouuserMode:serMode:de:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:ruserMode:useruserMode:Mode:Mode:userMuserMode:ode:userModuseruseruserMode:Mode:Mode:userMode:e:uuserMode:serModeuserMode:userMode::userMode:userMode:uuserMode:suserMode:eruseuserMouserMode:de:rMode:Mode:useususerMode:erMode:useruserMode:Mode:rMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:serMode:userMuserModeuserMode::oususerMode:erMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userModeuserMode::userModeuseuseruserMode:Mode:rMode::userMode:uuserMode:serMususerMode:useuserMode:rMode:erMode:oduserMode:e:useruseruserMode:Mode:MuserMode:ode:usuuserMode:serMode:erMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:uuserMode:serMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMode:de:userMode:uuserMode:seruuseuserMode:rMode:seruserModeuserMode::ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:MouserMode:de:oduserModeuserMode::euserMode::MouserMode:de:uuserMode:serMode:useruseruserMouserMode:de:Mode:ModususerMode:erMode:e:userMususerMode:erMode:odeuserMode::useruserMode:userModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:userMode:rMode:ModeuserMode::useuserMode:userMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seususerMode:erMuserMode:ode:ruserMouserMode:de:MouserMode:de:ususerModeuuserMode:userMode:serMode::erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:MouserModuserMode:e:de:userModuserMode:e:useruseruserModeuserMode::Mode:ModuserMode:euserMode::userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:rMode:useruseuserModeuserMode::rModeuserMode::Mode:ususerMode:euserMode:rMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:userMode:uususeuserMode:rModuseruseruserModuserMode:e:Mode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserMode:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:userMode:e:useuserModuserMode:e:ruserModeuserMode::Mode:userMuseruserMode:Mode:odeuserMuserMode:oduserMode:e::userModeuserMode::uuserMode:seruserModuserMode:e:Mode:useuserModeuserMode::userMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:userMode:::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::uuserMode:serMode:useruuseruseruserMode:ModeuserMode::MouserMode:de:serMuserMode:ode:ModuserMode:e:useuseuserMouserMode:de:rMode:rModeuseruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userModeuseruserMode:Mode::userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuseruserMode:Mode:rMode:ModeuserMode::userModeuseususeruserMode:Mode:eruserModeuseruserMode:Mode::ModeususerMode:erMode::rMode::userMuserModeuserMode::ode:useruserMode:MouuserMode:serMode:de:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuserMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:useruserMode:Mode:Mode:serMode:ModeuserMode::MouserModeuseruserMouserMode:de:Mode::duserMode:userMode:userMode:e:userModeususerMode:erModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouuserMode:serModeuserMode::de::uuserMode:suserMode:erMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::useuserMode:ruserMode:ModeuserModeuserMode::userMode::uuserMode:seruuseruserMode:Mode:serMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:suserMode:erusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuseruserMode:Mode:e:org.cpp:						ruserMode:t->F[1],userMuserModeususerMode:erMode::userMode:ode: 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ruseruserMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMuserMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:odeuserMode::userMode::userMuserMode:ode:uuserMode:seuseuserMode:rMode:rMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerMode:eruserMode:MouseuserMode:rMode:duuserMode:serMode:euserMuserModeuseuserMode:rModeuserModeuserMode::::oduserModeuserMode::e::userModuserMode:e:userMode:userMode:ususerMode:eruuserMode:serMode:ModuserMode:euserMode::uuserMode:seruserMode:Mode:userMode:uuserModeuserMode::serMode:userModeuserModeuserMode::ususerMode:eruserMode:Mode::useruserMode:MuseruserMode:Mode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMouserMode:de:uuserMode:serMode:useruserModuserMouseuserMode:rMode:de:euuserMode:serMode::ModeuuserMode:seuserMode:rMode::userMode:userMouuserModuserMode:e:serMode:duserMode:e:useruserModeuseuserMode:rMode::Mode:userModuserModuserModeuserMode::e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:useuserMode:rMode:userMode:userMode:uuserModeuserMouseruserMode:Mode:de:userMode::userMode:seruseruserMode:Mode:ModuserMode:euserMode:useuserMode:rMode::userMuuserMode:serMode:odeuserMode::useuserMode:rMode:userMode:userMode:useruserMuserMode:ode:ModuserMode:euseuserMode:ruuserMode:serMode:Mode::ususeuserMode:rMode:erMode:userMode:userModuserMode:e:useruserMode:MouserModeuserMode::userMode:de:useuserModuserMode:e:ususerMode:euserMode:rMode:ruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:ususerMode:erMode:userMode:uuserMode:seruserMode:ModeususerModeuserModeuserMode:userMode:::erMode::userModuserMode:euserModeuserMode:::userMouserMode:de:userMuserMode:ode:useuserMouserMode:de:rMode:useruserMode:ModeuserMouserMode:de::useususerMuserMode:ode:erModeuserMode::rususerMode:erMode:userMode:Mode:ususerMode:euserMode:rMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:userMuserMode:ode:riuseruserMode:MuserMouserMode:de:ode:nuserMode:userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserMode:serMode::serMode:userMouuserMode:suserModuserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMode:de:deuserModeuseuserMode:rMode:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuserMode:userMode:ode:useuserMode:rMode:ususerModeuserMode::ususerMode:erMode:eruserMode:Mode:userModuserMode:userMode:euuserModeuserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMuserMode:ode:userMode:userModeuserMode::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserMode:rMode:de:uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:de:Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:euserMode:rMode:ode::serMode:useruseruuserMode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:ode:suserMode:erMode:3*rt->jguserMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuserMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:useruserMuserMode:oduseususerMode:erMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserMode::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuserMode:rMode:userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserMode:MuserMode:ode:userModeuseuserMode:rModuserMode:e:userMode::uuseuseususerMode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuserMode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:userModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:userModeususerMode:userMode:eruserMuserMode:ode:ModuserMode:e::useuuuserMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserMode:ModeuserMode::useuuserMode:serMode:rMususerMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruserMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:MuserMode:ode:useruseuserMode:rMode:MuserMode:ouserMode:de:useuserMode:rModeuuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuserMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:userMode:userModeuserMode::uuseruserMode:Mode:serMode:useruserModeuseuserMode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:useruserMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:e::userMode:useruserMode:Mode:userModeuserModeuserMode::userMode::uuserModeuserMode::suserMode:erMode:useususerMode:erMuserMode:ode:ruseruuserMode:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruserMode:Mode:userMode:uuserMode:serMuserMode:ode:useuserModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserMode:rMode:ModeuserMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userModeuserMode:userMode::7.3*ruserMode:t->jgouserModeuserMode::al[3], 57userMouserMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userMode:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouserMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:eruserMode:Mode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModuserMode:euserMode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suseuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:rMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:userModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.userMode:cpuususerMode:erMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:de:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserMode:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userModuserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:useruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserModuserMode:e:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::Mode::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruuserMode:serMuserMode:ode:ModeuuserMode:serMode::userMode:useruserMode:userususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:seruserMode:Mode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userMuserMode:odeuserMuserMode:ode::useruserMode:userMode:ModeuserModuserMode:e::uuserModuserMode:e:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuuserMode:serMode::useruserMode:ModeuserMode::uuserMode:seruuserMode:seruserMode:userMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:Mode:useruserMode:ModeuserModeuuserMode:serMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMuserMode:ode:Mode:ModeuserMode::userMode:userModeuserModeuserMode:::useruserMode:ModeuserMode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuserMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:Mode::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruserMode:Mode:userMode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseruserMode:ususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseruserMode:ModeuseuserMode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserModuserMode:e:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuserMode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruserMode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserMode:e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuserMode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserModeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:userMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userususerMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModeuserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuserMode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususerMode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserMode:userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:Mode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuserMode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususerMode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouserMode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuserMode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuserMode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuseruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususerMode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMode:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuserMode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:userMouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruserMode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userMode:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserMode:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:oduserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruserMode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuseuserMode:rMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMouserMode:duserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuseuserMode:rMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:oduserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuserMode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserMode:Mode:de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususerMouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useusuuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserMode:duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuseuserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruseruserMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserMode:serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:oduserModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserMode:e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususeuserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserMode:serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duserususerMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:userMuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserModuserMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:useruserMode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiruserMode:edForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useruserMode:Mode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:userMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeuuserMode:suserMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuseuserMode:rMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserModeuserMode::serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usususerMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode:userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:userModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:userMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuserMouserMode:duserMode:e::userMode:uuserMode:serMode:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:serMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserMode:MouseuseruserMode:Mode:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::userModuserususerMode:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruserMode:Mode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMouserMode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: 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rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:userMode:e:useuserModuserMode:e:ruserModeuserMode::Mode:userMuseruserMode:Mode:odeuserMuserMode:oduserMode:e::userModeuserMode::uuserMode:seruserModuserMode:e:Mode:useuserModeuserMode::userMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:userMode:::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::uuserMode:serMode:useruuseruseruserMode:ModeuserMode::MouserMode:de:serMuserMode:ode:ModuserMode:e:useuseuserMouserMode:de:rMode:rModeuseruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userModeuseruserMode:Mode::userModeuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuseruserMode:Mode:rMode:ModeuserMode::userModeuseususeruserMode:Mode:eruserModeuseruserMode:Mode::ModeususerMode:erMode::rMode::userMuserModeuserMode::ode:useruserMode:MouuserMode:serMode:userMode:de:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuserMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:useruserMode:Mode:Mode:serMode:ModeuserMode::MouserModeuseruserMouserMode:de:Mode::duserMode:userMode:userMode:e:userModeususerMode:erModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouuserMode:serModeuserMode::de::uuserMode:suserMode:erMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::useuserMode:ruserMode:ModeuserModeuserMode::userMode::uuserMode:seruuseruserMode:Mode:serMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:suserMode:erusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuseruserMode:Mode:e:org.cpp:						ruserMode:t->F[1],userMuserModeususerMode:erMode::userMode:ode: 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57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruuserMode:serMuserMode:ode:ModeuuserMode:serMode::userMode:useruserMode:userususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:seruserMode:Mode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userMuserMode:odeuserMuserMode:ode::useruserMode:userMode:ModeuserModuserMode:e::uuserModuserMode:e:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuuserMode:serMode::useruserMode:ModeuserMode::uuserMode:seruuserMode:seruserMode:userMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:Mode:useruserMode:ModeuserModeuuserMode:serMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuserMode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMuserMode:ode:Mode:ModeuserMode::userMode:userModeuserModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuserMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:Mode::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseruserMode:ususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseruserMode:ModeuseuserMode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euuserModuserMode:e:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruserMode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuserMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuseruseuserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:Mode:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserMode:rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:userModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuserMode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususerMode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:usususerMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:Mode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuserMode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususerMode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:userMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuserMode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuserMode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModuserMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuserMode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususerMode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuserMode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserMode:Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruserMode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:userMuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:ususerMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::Mode:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:oduserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruserMode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuserMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMuserMode:ode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuseuserMode:rMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMouserMode:duserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuseuserMode:rMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:oduserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserMode:Mode:de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserMode:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useusuuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserMode:duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuseuserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuserMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserMode:serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:odususerMode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMode:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserMode:e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususeuserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:userMouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duserususerMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:userMuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:userMode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMuserMode:oduserMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:useruserMode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiruserMode:edForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useruserMode:Mode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:userMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode:userMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeuuserMode:suserMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuseuserMode:rMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserModeuserMode::serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usususerMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode:userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:useuserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuserMode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:odeuserMode::ususerMode:euserMouserMode:de:rMode:userMouuserMode:serMode:de:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:ruserMode:useruserMode:Mode:Mode:userMuserMode:ode:userModuseruseruserMode:Mode:Mode:userMode:e:uuserMode:serModeuserMode:userMode::userMode:userMode:uuserMode:suserMode:eruseuserMouserMode:de:rMode:Mode:useususerMode:erMode:useruserMode:Mode:rMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:serMode:userMuserModeuserMode::oususerMode:erMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userModeuserMode::userModeuseuseruserMode:Mode:rMode::userMode:uuserMode:serMususerMode:useuserMode:rMode:erMode:oduserMode:e:useruseruserMode:Mode:MuserMode:ode:usuuserMode:serMode:erMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:uuserMode:serMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMuserMode:ode:de:userMode:uuserMode:seruuseuserMode:rMode:seruserModeuserMode::ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:MouserMode:de:oduserModeuserMode::euserMode::MouserMode:de:uuserMode:serMode:useruseruserMouserMode:de:Mode:ModususerMode:erMode:e:userMususerMode:erMode:odeuserMode::ususerMode:eruserMode:userModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:userMode:rMode:ModeuserMode::useuserMode:userMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seususerMode:erMuserMode:ode:ruserMouserMode:de:MouserMode:de:ususerModeuuserMode:userMode:serMode::erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:MouserModuserMode:e:de:userModuserMode:e:useruseruserModeuserMode::Mode:ModuserMode:euserMode::userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:rMode:useruseuserModeuserMode::rModeuserMode::Mode:ususerMode:euserMode:rMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:userMode:uususeuserMode:rModuseruseruserModuserMode:e:Mode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserMode:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:userMode:e:useuserModuserMode:e:ruserModeuserMode::Mode:userMuseruserMode:Mode:odeuserMuserMode:oduserMode:e::userModeuserMode::uuserMode:seruserModuserMode:e:Mode:useuserModeuserMode::userMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:userMode:::userModuserMode:e:useruseruserMode:Mode:Mode:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::uuserMode:serMode:useruuseruseruserMode:ModeuserMode::MouserMode:de:serMuserMode:ode:ModuserMode:e:useuseuserMouserMode:de:rMode:rModeuseruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userModeuseruserMode:Mode::userMouserMode:deuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuseruserMode:Mode:rMode:ModeuserMode::userModeuseususeruserMode:Mode:eruserModeuseruserMode:Mode::ModeususerMode:erMode::rMode::userMuserModeuserMode::ode:useruserMode:MouuserMode:serMode:userMode:de:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuserMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:useruserMode:Mode:Mode:serMode:ModeuserMode::MouserModeuseruserMouserMode:de:Mode::duserMode:userMode:userMode:e:userModeususerMode:erModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouuserMode:serModeuserMode::de::uuserMode:suserMode:erMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::useuserMode:ruserMode:ModeuserModeuserMode::userMode::uuserMode:seruuseruserMode:Mode:serMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:suserMode:erusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuseruserMode:Mode:e:org.cpp:						ruserMode:t->F[1],userMuserModeususerMode:erMode::userMode:ode: 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ruseruserMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMuserMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:odeuserMode::userMode::userMuserMode:ode:uuserMode:seuseuserMode:rMode:rMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerMode:eruserMode:MouseuserMode:rMode:duuserMode:serMode:euserMuserModeuseuserMode:rModeuserModeuserMode::::oduserModeuserMode::e::userModuserMode:e:userMode:userMode:ususerMode:eruuserMode:serMode:ModuserMode:euserMode::uuserMode:seruserMode:Mode:userMode:uuserModeuserMode::serMode:userModeuserModeuserMode::ususerMode:eruserMode:Mode::useruserMode:MuseruserMode:Mode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMouserMode:de:uuserMode:serMode:useruserModuserMouseuserMode:rMode:de:euuuserMode:serMode:serMode::ModeuuserMode:seuserMode:rMode::userMode:userMouuserModuserMode:e:serMode:duserMode:e:useruserModeuseuserMode:rMode::Mode:userModuserModuserModeuserMode::e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:useuserMode:rMode:userMode:userMode:uuserModeuserMouseruserMode:Mode:de:userMode::userMode:seruuserMode:seruserMode:Mode:ModuserMode:euserMode:useuserMode:rMode::userMuuserMode:serMode:odeuserMode::useuserMode:rMode:userMode:userMode:useruserMuserMode:ode:ModuserMode:euseuserMode:ruuserMode:serMode:Mode::ususeuserMode:rMode:erMode:userMode:userModuserMode:e:useruserMode:MouserModeuserMode::userMode:de:useuserModuserMode:e:ususerMode:euserMode:rMode:ruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:ususerMode:erMode:userMode:uuserMode:seruserMode:ModeususerModeuserModeuserMode:userMode:::erMode::userModuserMode:euserModeuserMode:::userMouserMode:de:userMuserMode:ode:useuserMouserMode:de:rMode:useruserMode:ModeuserMouserMode:de::useususerMuserMode:ode:erModeuserMode::rususerMode:erMode:userMode:Mode:ususerMode:euserMode:rMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:userMuserMode:ode:riuseruserMode:MuserMouserMode:de:ode:nuserMode:userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserMode:serMode::serMode:userMouuserMode:suserModuserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMode:de:deuserModeuseuserMode:rMode:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuserMode:rMode:ususerModeuserMode::ususerMode:erMode:eruserMode:Mode:userModuserMode:userMode:euuserModeuserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:userMuserMode:ode:userMode:userModeuserMode::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserMode:rMode:de:uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:de:Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:euserMode:rMode:ode::serMode:useruseruuserMode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:ode:suserMode:erMode:3*rt->jguserMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuserMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMouserMode:de:useruserMuserMode:oduseususerMode:erMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserMode::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuserMode:rMode:userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserMode:MuserMode:ode:userModeuseuserMode:rModuserMode:e:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuserMode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:userModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:userModeususerMode:userMode:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuuserMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserMode:ModeuserMode::useuuserMode:serMode:rMususerMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruserMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:MuserMode:ode:useruseuserMode:rMode:MuserMode:ouserMode:de:useuserMode:rModeuuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuserMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:userMode:userModeuserMode::uuseruserMode:Mode:serMode:useruserModeuseuserMode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:useruserMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:e::userMode:useruserMode:Mode:userModeuserModeuserMode::userMode::uuserModeuserMode::suserMode:erMode:useususerMode:erMuserMode:ode:ruseruuserMode:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruserMode:Mode:userMode:uuserMode:serMuserMode:ode:useuserModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserMode:rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userModeuserMode:userMode::7.3*ruserMode:t->jgouserModeuserMode::al[3], 57userMouserMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouserMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:eruserMode:Mode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModuserMode:euserMode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suseuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:rMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuserMuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:erMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:de:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserMode:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userModuserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt->q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuserMode:euserMode::userMode:userModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:userMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserModuserMode:e:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::Mode::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruuserMode:serMuserMode:ode:ModeuuserMode:serMode::userMode:useruserMode:userususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:seruserMode:Mode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userMuserMode:odeuserMuserMode:ode::useruserMode:userMode:ModeuserModuserMode:e::uuserModuserMode:e:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuuserMode:serMode::useruserMode:ModeuserMode::uuserMode:seruuserMode:seruserMode:userMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruserMode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:Mode:useruserMode:ModeuserModeuuserMode:serMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuseruserMode:Mode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMuserMode:ode:Mode:ModeuserMode::userMode:userModeuserModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuserMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:ode:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseruserMode:ususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseruserMode:ModeuseuserMode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erModuserMode:e:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguserMode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuserMode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:Mode::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruserMode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruserModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserModeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:userMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuserMode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususerMode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:Mode:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:Mode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuserMode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususerMode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuserMode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuserMode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMode:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuserMode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususerMode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruserModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuserMode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModuserMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruserMode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode:::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uuserModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:oduserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruserMode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:useuserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuseuserMode:rMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMuserMode:ode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuseuserMode:rMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMouserMode:duserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuseuserMode:rMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserMode:rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserMode:Mode:de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:userMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useusuuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserMode:duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuseuserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userMode:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserMode:serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::userMode:ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:odususerMode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruserMode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserMode:e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususeuserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuserModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duserususerMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:userMuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMode:Mode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMuserMode:oduserMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:useruserMode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiruserMode:edForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode:::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useruserMode:Mode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:ModeuserMode::ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:userMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode:userMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeuuserMode:suserMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuseuserMode:rMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserModeuserMode::serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usususerMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:Mode:MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode:userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:useuserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuserMouserMode:duserMode:e::userMode:uuserMode:serMode:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:eruuserMode:serModeuserMode::Mode:userMode:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:serMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:rMode:userMode:userMode:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserMode:MouseuseruserMode:Mode:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususerMode:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:Mode:Mode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMouserMode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuserMode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:odeuserMode::ususerMode:euserMouserMode:de:rMode:userMouuserMode:serMode:de:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:ruserMode:useruserMode:Mode:Mode:userMuserMode:ode:userModuseruseruserMode:Mode:Mode:userMode:e:uuserMode:serModeuserMode:userMode::userMode:userMode:uuserMode:suserMode:eruseuserMouserMode:de:rMode:Mode:useususerMode:erMode:useruserMode:Mode:rMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:serMode:userMuserModeuserMode::oususerMode:erMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userModeuserMode::userModeuseuserMode:useruserMode:Mode:rMode::userMode:uuserMode:serMususerMode:useuserMode:rMode:erMode:oduserMode:e:useruseruserMode:Mode:MuserMode:ode:usuuserMode:serMode:erMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:uuserMode:serMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMuserMode:ode:de:userMode:uuserMode:seruuseuserMode:rMode:seruserModeuserMode::ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:MouserMode:de:oduserModeuserMode::euserMode::MouserMode:de:uuserMode:serMode:useruseruserMouserMode:de:Mode:ModususerMode:erMode:e:userMususerMode:erMode:odeuserMode::ususerMode:eruserMode:userModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:userMode:rMode:ModeuserMode::useuserMode:userMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seususerMode:erMuserMode:ode:ruserMouserMode:de:MouserMode:de:ususerModeuuserMode:userMode:serMode::erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:MouserModuserMode:e:de:userModuserMode:e:useruseruserModeuserMode::Mode:ModuserMode:euserMode::userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:rMode:useruseuserModeuserMode::rModeuserMode::Mode:ususerMode:euserMode:rMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:userMode:uususeuserMode:rModuseruseruserModuserMode:e:Mode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserMode:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:userMode:e:useuserModuserMode:e:ruserModeuserMode::Mode:userMuseruserMode:Mode:odeuserMuserMode:oduserMode:e::userModeuserMode::uuserMode:seruserModuserMode:e:Mode:useuserModeuserMode::userMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:userMode:::userModuserMode:e:useruseruserMode:Mode:MouserMode:de:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::uuserMode:serMode:useruuseruseruserMode:ModeuserMode::MouserMode:de:serMuserMode:ode:ModuserMode:e:useuseuserMouserMode:de:rMode:rModeuseruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userModeuseruserMode:Mode::userMouserMode:deuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuseruserMode:Mode:rMode:ModeuserMode::userModeuseususeruserMode:Mode:eruserModeuseruserMode:Mode::ModeususerMode:erMode::rMode::userMuserModeuserMode::ode:useruserMode:MouuserMode:serMode:userMode:de:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuserMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:useruserMode:Mode:Mode:serMode:ModeuserMode::MouserModeuseruserMouserMode:de:Mode::duserMode:userMode:userMode:e:userModeususerMode:erModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouuserMode:serModeuserMode::de::uuserMode:suserMode:erMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::useuserMode:ruserMode:ModeuserModeuserMode::userMode::uuserMode:seruuseruserMode:Mode:serMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:suserMode:erusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuseruserMode:Mode:e:org.cpp:						ruserMode:t->F[1],userMuserModeususerMode:erMode::userMode:ode: 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ruseruserMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMuserMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:odeuserMode::userMode::userMuserMode:ode:uuserMode:seuseuserMode:rMode:rMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerMode:eruserMode:MouseuserMode:rMode:duuserMode:serMode:euserMuserModeuseuserMode:rModeuserModeuserMode::::oduserModeuserMode::e::userModuserMode:e:userMode:userMode:ususeuserMode:rMode:eruuserMode:serMode:ModuserMode:euserMode::uuserMode:seruserMode:Mode:userMode:uuserModeuserMode::serMode:userModeuserModeuserMode::ususerMode:eruserMode:Mode::useruserMode:MuseruserMode:Mode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMouserMode:de:uuserMode:serMode:useruserModuserMouseuserMode:rMode:de:euuuserMode:serMode:serMode::ModeuuserMode:seuserMode:rMode::userMode:userMouuserModuserMode:e:serMode:duserMode:e:useruserModeuseuserMode:rMode::Mode:userModuserModuserModeuserMode::e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:useuserMode:rMode:userMode:userMode:uuserModeuserMouseruserMode:Mode:de:userMode::userMode:seruuserMode:seruserMode:Mode:ModuserMode:euserMode:useuserMode:rMode::userMuuserMode:serMode:odeuserMode::useuserMode:rMode:userMode:userMode:useruserMuserMode:ode:ModuserMode:euseuserMode:ruuserMode:serMode:Mode::ususeuserMode:rMode:erMode:userMode:userModuserMode:e:useruserMode:MouserModeuserMode::userMode:de:useuserModuserMode:e:ususerMode:euserMode:rMode:ruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:ususerMode:erMode:userMode:uuserMode:seruserMode:ModeususerModeuserModeuserMode:userMode:::erMode::userModuserMode:euserModeuserMode:::userMouserMode:de:userMuserMode:ode:useuserMouserMode:de:rMode:useruserMode:ModeuserMouserMode:de::useususerMuserMode:ode:erModeuserMode::rususerMode:erMode:userMode:Mode:ususerMode:euserMode:rMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:userMuserMode:ode:riuseruserMode:MuserMouserMode:de:ode:nuserMode:userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], 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57userMouserMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouserMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:eruserMode:Mode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModuserMode:euserMode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suseuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:rMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:erMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 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57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruuserMode:serMuserMode:ode:ModeuuserMode:serMode::userMode:useruserMode:userususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:seruserMode:Mode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userMuserMode:odeuserMuserMode:ode::useruserMode:userMode:ModeuserModuserMode:e::uuserModuserMode:e:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuuserMode:serMode::useruserMode:ModeuserMode::uuserMode:seruuserMode:seruserMode:userMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruseruserMode:Mode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:Mode:useruserMode:ModeuserModeuuserMode:serMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuseruserMode:Mode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMuserMode:ode:Mode:ModeuserMode::userMode:userModeuserModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuserMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserMode:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduserMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseruserMode:ususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erModuserMode:e:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserModeuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:Mode::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserMode:rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModuseuserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouserMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruserMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuserMode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususerMode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:Mode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuserMode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususerMode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::userMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuserMode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuserMode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuserMode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususerMode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuserMode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruseruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruserMode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserMode:rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:userModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouseuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:oduserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruserMode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:ususerMode:euserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuseuserMode:rMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMuserMode:ode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuseuserMode:rMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMouserMode:duserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuseuserMode:rMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userModeuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserMode:Mode:de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruseruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useusuuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserMode:duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgouserMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuseuserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMode:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::userMode:ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:odususerMode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserMode:e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususeuserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duserususerMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMode:Mode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMuserMode:oduserMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:useruserMode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruserMode:t-userMode:>duseruserMode:MouserMode:de:esiruserMode:edForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode::userMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useruserMode:Mode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:ModeuserMode::ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:userMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode:userMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeuuserMode:suserMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuseuserMode:rMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserModeuserMode::serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usususerMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode:userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:useuserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMouseuserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMode:userMode:useruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuserMode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:odeuserMode::ususerMode:euserMouserMode:de:rMode:userMouuserMode:serMode:de:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:ruserMode:useruserMode:Mode:Mode:userMuserMode:ode:userModuseruseruserMode:Mode:Mode:userMode:e:uuserMode:serModeuserMode:userMode::userMode:userMode:uuserMode:suserMode:eruseuserMouserModuserMode:e:de:rMode:Mode:useususerMode:erMode:useruserMode:Mode:rMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:serMode:userMuserModeuserMode::oususerMode:erMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userModeuserMode::userModeuseuserMode:useruserMode:Mode:rMode::userMode:uuserMode:serMususerMode:useuserMode:rMode:erMode:oduserMode:e:useruseruserMode:Mode:MuserMode:ode:usuuserMode:serMode:erMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:uuserMode:serMode:rMode:useruserMode:Mode:userMode:userMode:userMouserMuserMode:ode:de:userMode:uuserMode:seruuseuserMode:rMode:seruserModeuserMode::ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:MouserMode:de:oduserModeuserMode::euserMode::MouserMode:de:uuserMode:serMode:useruseruserMouserMode:de:Mode:ModususerMode:erMode:e:userMususerMode:erMode:odeuserMode::ususerMode:eruserMode:userModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:userMode:rMode:ModeuserMode::useuserMode:userMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seususerMode:erMuserMode:ode:ruserMouserMode:de:MouserMode:de:ususerModeuuserMode:userMode:serMode::erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:MouserModuserMode:e:de:userModuserMode:e:useruseruserModeuserMode::Mode:ModuserMode:euserMode::userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:useruserMode:Mode:useuserMode:rMode:useruseuserModeuserMode::rModeuserMode::Mode:ususerMode:euserMode:rMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:userMode:uususeuserMode:rModuseruseruserModuserMode:e:Mode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserMode:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:userMode:e:useuserModuserMode:e:ruserModeuserMode::Mode:userMuseruserMouserMode:de:Mode:odeuserMuserMode:oduserMode:e::userModeuserMode::uuserMode:seruserModuserMode:e:Mode:useuserModeuserMode::userMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:userMode:::userModuserMode:e:useruseruserMode:Mode:MouserMode:de:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::uuserMode:serMode:useruuseruseruserMode:ModeuserMode::MouserMode:de:serMuserMode:ode:ModuserMode:e:useuseuserMouserMode:de:rMode:rModeuseruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userModeuseruserMode:Mode::userMouserMode:deuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuseruserMode:Mode:rMode:ModeuserMode::userModeuseususeruserMode:Mode:eruserModeuseruserMode:Mode::ModeususerMode:erMode::rMode::userMuserModeuserMode::ode:useruserMode:MouuserMode:serMode:userMode:de:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeuserMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:useruserMode:Mode:Mode:serMode:ModeuserMode::MouserModeuseruserMouserMode:de:Mode::duserMode:userMode:userMode:e:userModeususerMode:erModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouuserMode:serModeuserMode::de::uuserMode:suserMode:erMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::useuserMode:ruserMode:ModeuserModeuserMode::userMode::uuserMode:seruuseruserMode:Mode:serMode:Mode:ususerMode:erMode:useruserMode:Mode:userMode:uuserMode:suserMode:erusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuseruserMode:Mode:e:org.cpp:						ruserMode:t->F[1],userMuserModeususerMode:erMode::userMode:ode: 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ruseruserMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMuserMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:odeuserMode::userMode::userMuserMode:userMode:ode:uuserMode:seuseuserMode:rMode:rMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerMode:eruserMode:MouseuserMode:rMode:duuserMode:serMode:euserMuserModeuseuserMode:rModeuserModeuserMode::::oduserModeuserMode::e::userModuserMode:e:userMode:userMode:ususeuserMode:rMode:eruuserMode:serMode:ModuserMode:euserMode::uuserMode:seruserMode:Mode:userMode:uuserModeuserMode::serMode:userModeuserModeuserMode::ususerMode:eruserMode:Mode::useruserMode:MuseruserMode:Mode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMouserMode:de:uuserMode:serMode:useruserModuserMouseuserMode:rMode:de:euuuserMode:serMode:serMode::ModeuuserMode:seuserMode:rMode::userMode:userMouuserModuserMode:e:serMode:duserMode:e:useruserModeuseuserMode:rMode::Mode:userModuserModuserModeuserMode::e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:useuserMode:rMode:userMode:userMode:uuserModeuserMouseruserMode:Mode:de:userMode::userMode:seruuserMode:seruserMode:Mode:ModuserMode:euserMode:useuserMode:rMode::userMuuserMode:serMode:odeuserMode::useuserMode:rMode:userMode:userMode:useruserMuserMode:ode:ModuserMode:euseuserMode:ruuserMode:serMode:Mode::ususeuserMode:rMode:erMode:userMode:userModuserMode:e:useruserMode:MouserModeuserMode::userMode:de:useuserModuserMode:e:ususerMode:euserMode:rMode:ruserMode:userMode:ModuserMode:eususerMode:erMode::userMode:ususerMode:erMode:userMode:ususerMode:erMode:userMode:uuserMode:seruserMode:ModeususerModeuserModeuserMode:userMode:::erMode::userModuserMode:euserModeuserMode:::userMouserMode:de:userMuserMode:ode:useuserMouserMode:de:rMode:useruserMode:ModeuserMouserMode:de::useususerMuserMode:ode:erModeuserMode::rususerMode:erMode:userMode:Mode:ususerMode:euserMode:rMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:userMuserMode:ode:riuseruserMode:MuserMouserMode:de:ode:nuserMode:userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserMode::serMode::serMode:userMouuserMode:suserModuserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouserMode:de:de:deuserModeuseuserMode:rMode:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuserMode:rMode:ususerModeuserMode::ususerMode:erMode:eruserMode:Mode:userModuserMode:userMode:euuserModeuserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:userMuserMode:ode:userMode:userModeuserMode::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserMode:rMode:de:uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:de:Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:euserMode:rMode:ode::serMode:useruseruuserMode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:ode:suserMode:erMode:3*rt->jguserMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuserMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMouserModuserMode:e:de:useruserMuserMode:oduseususerMode:erMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserMode::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuserMode:rMode:userMode:userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserMode:MuserMode:ode:userModeuseuserMode:rModuserMode:e:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuserMode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:userModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:userModeususerMode:userMode:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuuserMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserMode:ModeuserMode::useuuserMode:serMode:rMususerMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruserMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:MuserMode:ode:useruseuserMode:rMode:MuserMode:ouserMode:de:useuserMode:rModeuuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuserMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:userMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:useruserMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:e::userMode:useruserMode:Mode:userModeuserModeuserMode::userMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMode:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruserMode:Mode:userMode:uuserMode:serMuserMode:ode:useuserModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserMode:rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userModeuserMode:userMode::7.3*ruserMode:t->jgouserModeuserMode::al[3], 57userMouserMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouserMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuserMode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:eruserMode:Mode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMode:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModuserMode:euserMode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:rMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:erMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:de:uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserMode:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userModuserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuseruserMode:Mode:euserMode::userMode:userModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:userMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserModuserMode:e:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::Mode::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruuserMode:serMuserMode:ode:ModeuuserMode:serMode::userMode:useruserMode:userususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:seruserMode:Mode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserMode:ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userMuserMode:odeuserMuserMode:ode::useruserMode:userMode:ModeuserModuserMode:e::uuserModuserMode:e:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useuserMode:ruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuuserMode:serMode::useruserMode:ModeuserMode::uuserMode:seruuserMode:seruserMode:userMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruseruserMode:Mode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:Mode:useruserMode:ModeuserModeuuserMode:serMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuseruserMode:Mode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMuserMode:ode:Mode:ModeuserMode::userMode:userModeuserModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuserMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruserModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduserMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erModuserMode:e:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruserMode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususerMode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::ModeuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruserMode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuserMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruserMode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserMode:(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuserMode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuserMode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuserMuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:Mode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuserMode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususerMode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuserMode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuserMode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMuserMode:ode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuserMode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:nduseruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuserMode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:Mode:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruserMode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouserMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuserMode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuserMode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMode:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:oduserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruserMode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:useruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:userMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:ususerMode:euserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuseuserMode:rMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMuserMode:ode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuseuserMode:rMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMouserMode:duserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuseuserMode:rMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserMode:Mode:de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useusuuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserMode:duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuseuserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::userMode:ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:odususerMode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMode:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserMode:e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususeuserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuserMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeuserMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMode:Mode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMuserMode:oduserMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:useruserMode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruseuserMode:rMode:t-userMode:>duseruserMode:MouserMode:de:esiruserMode:edForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode::userMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useruserMode:Mode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:ModeuserMode::ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:userMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode:userMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeuuserMode:suserMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuseuserMode:rMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserModeuserMode::serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rMode:Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode:userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:useuserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuserModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: 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57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useruserMode:ModeuserModuserMode:e::tau_des[1], ruserMode:useruserMode:Mode:t->tauserModeuserMode::useruuserMode:serMuserMode:ode:ModeuuserMode:serMode::userMode:useruserMode:userususerMode:euserMode:rMode:Mode:Mode:userModeuserModuserMode:e::useruuserMode:seruserMode:Mode:ModeuserModeuserMode:::userMode:ususerMode:eruseruseruserMode:Mode:Mode:Mode:userModeuserMode::useruserModeuserMode::ModuserMode:euserMode::userMode:useruserususerMode:erMode:Mode:Mode:useuserMode:rModeuserMode:userMode::useruserMode:ModeuserMode::userMode:useruseruserMode:MuserMode:ode:Mode:userMuserMode:odeuserMuserMode:ode::useruserMode:userMode:ModeuserModuserMode:e::uuserModuserMode:e:serMode:useruseruserMode:Mode:Mode:userMode:userModeuserModuserMode:e::useruserMode:ModeuserMode::userMode:useuserMode:ruseruseuserMode:userMode:rMode:Mode:Mode:userMuserMode:odeuserMode::useruserMode:ModeuserModeuserMode:::userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModeuserMode::useuserMode:ruserMode:ModeuuserMode:serMode::useruserMode:ModeuserMode::uuserMode:seruuserMode:seruserMode:userMode:Mode:Mode:userModeuserMode::useruserMode:ModeususerMode:erMode::userMode:useruserMode:useruseruserMode:Mode:Mode:Mode:userModeuserMode::userususerMode:erMode:ModeuserModuserMode:e::userMode:userMode:useruseruserMode:ModuserMode:e:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseuserMode:rMode:Mode:MususerMode:erMode:ode:userModeuserMode::useruserMode:Mode:useruserMode:ModeuserModeuuserMode:serMuserMode:ode:::userMode:useruuserMode:seruserMode:Mode:Mode:useuserMuseruserMode:Mode:ode:rModeuserMode::uuserMode:seruserMode:ModeuserMode::userMode:uuserMode:seruseruserMode:Mode:Mode:userModeuserMuserMode:oduserMode:e::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseuserMode:rMode::userMode:useruserMode:ModeuserModuserMode:e::userMode:useruseruserMuserMode:ode:Mode:ModeuserMode::userMode:userModeuserModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:useruseruseuseuserMode:rMode:ruserMode:MouserMode:de:Mode:Mode:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuserMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduserMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:serMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erModuserMode:e:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserMode:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruserMode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::ModuserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMode::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususerMode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserMode::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", userMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuserMode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuserMode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuserMode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userModeuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:Mode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuserMode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseuserMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuserMode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuserMode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuseruserMode:Mode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMuserMode:ode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuserMode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuserMode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserMode:Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruserMode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userMode:userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouseuserMode:rMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserMode:ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruserMode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuserMode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:oduserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruserMode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:Mode:ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:ususerMode:eruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:userMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:ususerMode:euserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuseuserMode:rMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMuserMode:ode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuseuserMode:rMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMouserMode:duserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuseuserMode:rMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:userMode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserMode:Mode:de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:MouserMode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserMode:duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuseuserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModuseruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::userMode:ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:odususerMode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouserMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserMode:e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususeuserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::Mode:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMode:Mode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMuserMode:oduserMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:useruserMode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMode:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruseuserMode:rMode:t-userMode:>duseruserMode:MouserMode:de:esiruserMode:edForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode::userMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useruserMode:Mode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:ModeuserMode::ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:userMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode:userMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeuuserMode:suserMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuseuserMode:rMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserMode:Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserModeuserMode::serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rModeuserMode::Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode:userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:useuserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_userMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: 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ruseruserMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMuserMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:odeuserMode::userMode::userMuserMode:userMode:ode:uuserMode:seuseuserMode:rMode:rMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerMode:eruserMode:MouseuserMode:rMode:duuserMode:serMode:euserMuserModeuseuserMode:rModeuserModeuserMode::::oduserModeuserMode::e::userModuserMode:e:userMode:userMode:ususeuserMode:rMode:eruuserMode:serMode:ModuserMode:euserMode::uuserMode:seruserMode:Mode:userMode:uuserModeuserMode::serMode:userModeuserModeuserMode::ususerMode:eruserMode:Mode::useruserMode:MuseruserMode:Mode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMouserMode:de:uuserMode:serMode:useruserModuserMouseuserMode:rMode:de:euuuserMode:serMode:serMode::ModeuuserMode:seuserMode:rMode::userMode:userMouuserModuserMode:e:serMode:duserMode:e:useruserModeuseuserMode:rMode::Mode:userModuserModuserModeuserMode::e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:useuserMode:rMode:userMode:userMode:uuserModeuserMouseruserMode:Mode:de:userMode::userMode:seruuserMode:seruserMode:Mode:ModuserMode:euserMode:useuserMode:rMode::userMuuserMode:serMode:odeuserMode::useuserMode:rMode:userMode:userMode:useruserMuserMode:ode:ModuserMode:euseuserMode:ruuserMode:serMode:Mode::ususeuserMode:rMode:erMode:userMode:userModuserMode:e:useruserMode:MouserModeuserMode::userMode:de:useuserModuserMode:e:ususerMode:euserMode:rMode:ruserMode:userMode:ModuserMode:eususerModeuserMode::erMode::userMode:ususerMode:erMode:userMode:ususerMode:erMode:userMode:uuserMode:seruserMode:ModeususerModeuserModeuserMode:userMode:::erMode::userModuserMode:euserModeuserMode:::userMouserMode:de:userMuserMode:ode:useuserMouserMode:de:rMode:useruserMode:ModeuserMouserMode:de::useususerMuserMode:ode:erModeuserMode::rususeuserMode:rMode:erMode:userMode:Mode:ususerMode:euserMode:rMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:userMuserMode:ode:riuseruserMode:MuserMouserMode:de:ode:nuserMode:userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserMode::serMode::serMode:userMouuserMode:suserModuserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouserMode:de:de:deuserModeuseuserMode:rMode:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuserMode:rMode:ususerModeuserMode::ususerMode:erMode:eruserMode:Mode:userModuserMode:userMode:euuserModeuserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:userMuserMode:ode:userMode:userModeuserMode::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserMode:rModuserMode:e:de:uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:de:Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruserMode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:ode:suserMode:erMode:3*rt->jguserMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuserMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMouserModuserMode:e:de:useruserMuserMode:oduseususerMode:erMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserMode::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuserMode:rMode:userMode:userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserMode:MuserMode:ode:userModeuseuserMode:rModuserMode:e:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuserMode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:userModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:userModeususerMode:userMode:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuuserMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserMode:ModeuserMode::useuuserMode:serMode:rMusuuserMode:serMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruserMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:MuserMode:ode:useruseuserMode:rMode:MuserMode:ouserMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuserMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:userMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:useruserMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:e::userMode:useruserMode:Mode:userModeuserModeuserMode::userMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMode:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruserMode:Mode:userMode:uuserMode:serMuserMode:ode:useuserModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserMode:rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userModeuserMode:userMode::7.3*ruserMode:t->jgouserModeuserMode::al[3], 57userMouserMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouserMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:eruserMode:Mode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModuserMode:euserMode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:rMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:erMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserMode:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuseruserMode:Mode:euserMode::userMode:userModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:ModeuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:userMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMuserMode:ode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserModuserMode:e:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::ModuserMode:e::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruserMode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuserMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduserMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erModuserMode:e:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1userMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:Mode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_voususerMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-userMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:Mode:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuserMode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuserMode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuserMode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuserMode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:Mode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuserMode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duserMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuserMode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuseruserMode:Mode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuseruserMode:Mode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMuserMode:ode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuserMode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:count userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuserMode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruserMode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuserMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userModeuserMode::userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouseuserMode:rMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMode:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuserMode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruserMode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuserMode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:deuserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:oduserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruserMode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:ususerMode:eruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:userMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:ususerMode:euserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuseuserMode:rMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMuserMode:ode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuseuserMode:rMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMouserMode:duserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuseuserMode:rMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::useruserMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:useruserMode:Mode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserMode:Mode:de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruserMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserMode:duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuseuserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouseruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::userMode:ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:odususerMode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserMode:e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouserususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususeuserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], 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rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMode:Mode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMuserMode:oduserMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:useruserMode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruseuserMode:rMode:t-userMode:>duseruserMode:MouserMode:de:esiruserMode:edForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode::userMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useruserMode:Mode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:ModeuserMode::ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:userMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode:userMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeuuserMode:suserMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuseuserMode:rMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserModeuserMode::Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserModeuserMode::serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rModeuserMode::Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode:userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:useuserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruserMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: 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57userMouseuserMode:rMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouserMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:eruserMode:Mode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModuserMode:euserMode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:rMode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:erMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserMode:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 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57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:ususerMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuserMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduserMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:Mode:rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuseruseuserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuserMode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuserMode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:erMouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruserModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuserModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserMode::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuserMode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuserMode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuserMode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuserMode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuserMode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ode:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:Mode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuserMode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserMode:e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuserMode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:userMode:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuseruserMode:Mode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuseruserMode:Mode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMuserMode:ode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuserMode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMode:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuserMode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuserMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruserMode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruserMouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuuserMode:serMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userModeuserMode::userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouseuserMode:rMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuserMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouserMode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuserMode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruserMode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuserMode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserMode:seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:oduserMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:ususerMode:eruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:userMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:ususerMode:euserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuseuserMode:rMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMuserMode:ode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuseuserMode:rMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMouserMode:duserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserMode:userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuseuserMode:rMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::userususerMode:erMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:useruserMode:Mode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuserMode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserMode:ModeuserMode::de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMode:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserMode:duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuseuserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::userMode:ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:odususerMode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rt->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuserMode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserMode:e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususeuserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuserMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMode:Mode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMuserMode:oduserMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:useruserMode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruseuserMode:rMode:t-userMode:>duseruserMode:MouserMode:de:esiruserMode:edForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode::userMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useruserMode:Mode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:ModeuserMode::ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:userMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode:userMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeuuserMode:suserMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:e:MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useuserMode:ruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuseuserMode:rMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserModeuserMode::Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserModeuserMode::serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rModeuserMode::Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode:userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:useuserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuseuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruseuserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruserModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: 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57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserMode:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->dq[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuseruserMode:Mode:euserMode::userMode:userModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:MouserMode:deuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:userMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserModuserMode:e::useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMuserMode:ode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserModuserMode:e:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::ModuserMode:e::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:de:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuserMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduserMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMoususerMode:erMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuserMode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserMode::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:eruserModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userModeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuserMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserMode:de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModeuserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deuserMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuserMode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuserMode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuserMode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuserMode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuserMode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:Mode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuserMode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuserMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuserMode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:userMode:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuseruserMode:Mode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuseruserMode:Mode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMuserMode:ode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuserMode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuserMode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rMode:userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruserMode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::de:useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruseruserMode:MouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuuserMode:serMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userModeuserMode::userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouseuserMode:rMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:ode:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuserMode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouserMode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuserMode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruserMode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuserMode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserMode::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMode:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:ususerMode:eruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:userMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:ususerMode:euserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuseuserMode:rMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMuserMode:ode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuseuserMode:rMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMode:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMouserMode:duserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserModeuserMode::userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuseuserMode:rMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::userususerMode:erMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:useruserMode:Mode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruserMode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserMode:ModeuserMode::de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuserMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserMode:duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuseuserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserMode:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::userMode:ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:odususerMode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserMode:Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserMode:e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususeuserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userMode:userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMode:Mode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMuserMode:oduserMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruseuserMode:rMode:t-userMode:>duseruserMode:MouserMode:de:esiruserMode:edForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode::userMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useruserMode:Mode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:ModeuserMode::ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:userMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode:userMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeuuserMode:suserMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:euserMode::MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useuserMode:ruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuseuserMode:rMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserModeuserMode::Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserModeuserMode::serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rModeuserMode::Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserMode:userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:useuserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruseuserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:userMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:odeuserMode::ususerMode:userMode:euserMouserMode:de:rMode:userMouuserMode:serMode:de:useruserMode:Mode:userMouserMode:de:userMode:useuserMode:ruserMode:useruserMode:Mode:Mode:userMuserMode:ode:userModuseruseruserMode:Mode:Mode:userMode:e:uuserMode:serModeuserMode:userMode::userMode:userMode:uuserMode:suserMode:eruseuserMouserModuserMode:e:de:rMode:Mode:useususerMode:erMode:useruserMode:Mode:rMode:userMode:userMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:serMode:userMuserModeuserMode::oususerMode:erMode:de:usuuserMode:serMode:erMode:useruserMuseruserMode:Mode:ode:MouserMode:de:userModeuserMode::userModeuseuserMode:useruserMode:Mode:rMode::userMode:uuserMode:serMususerMode:useuserMode:rMode:erMode:oduserMode:e:useruseruserMode:Mode:MuserMode:ode:usuuserMode:serMode:erMode:userMode:userMode:useruserMode:ModuserMode:e:userMode:useuserMode:uuserMode:serMode:rMouserMode:de:useruserMode:Mode:userMode:userMode:userMouserMuserMode:ode:de:userMode:uuserMode:seruuseuserMode:rMode:seruserModeuserMode::ModeuserMode::Mode:ususerMode:erMode:useruserMuseruserMode:MouserMode:de:oduserModeuserMode::euserMode::MouserMode:de:uuserMode:serMode:useruseruserMouserMode:de:Mode:MouserMode:dususerMode:erMode:e:userMususerMode:erMode:odeuserMode::ususerMode:eruserMode:userModuserMode:e:Mode:userMode:useruserMode:Mode:useruseuserMode:userMode:rMode:ModeuserMode::useuserMode:userMode:rMode:userususerMode:erMode:Mode:userMode:useruserMode:Mode:userMode:uususerMode:erMode:seususerMode:euserMode:rMuserMode:ode:ruserMouserMode:de:MouserMode:de:ususerModeuuserMode:userMode:serMode::erMuserMode:ode:userMode:useruserMode:Mode:useruserMode:MouserModuserMode:e:de:userModuserMode:e:useruseruserModeuserMode::Mode:ModuserMode:euserMode::userMuseuserMode:rMode:ode:ususerMode:eruserMode:Mode:userususerMode:erMode:Mode:useuserMode:rMode:useruseuserModeuserMode::rModeuserMode::Mode:ususerMode:euserMode:rMode:useruserMode:Mode:userMode:uuserMode:seruserMode:Mode:userMode:uususeuserMode:rModuseruseruserModuserMode:e:Mode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:userMode:e:useuserModuserMode:e:ruserModeuserMode::Mode:userMuseruserMouserMode:de:Mode:odeuserMuserMode:oduserMode:e::userModeuserMode::uuserMode:seruserModuserMode:e:Mode:useuserModeuserMode::userMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMode:Mode:ode:Mode:userMouserMode:deuserModeuserMode:userMode:::userModuserMode:e:useruseruserMode:Mode:MouserMode:de:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::uuserMode:serMode:useruuseruseruserMode:ModeuserMode::MouserMode:de:serMuserMode:ode:ModuserMode:e:useuseuserMouserMode:de:rMode:rModeususerMode:eruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userModeuseruserMode:Mode::userMouserMode:deuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuseruserMode:Mode:rMode:ModeuserMode::userModeuseususeruserMode:MouserMode:de:eruserModeuseruserMode:Mode::ModeususerMode:erMode::rMode::userMuserModeuserMode::ode:useruserMode:MouuserMode:serMode:userMode:de:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeususerMode:erMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:useruserMode:Mode:Mode:serMode:ModeuserMode::MouserModeuseruserMouserMode:de:Mode::duserMode:userMode:userMode:e:userModeususerMode:erModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouuserMode:serModeuserMode::de::uuserMode:suserModeuserMode::erMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::useuserMode:ruserMode:ModeuserModeuserMode::userMode::uuserMode:seruuseruserMode:Mode:serMode:Mode:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:uuserMode:suserMode:erusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuseruserMode:Mode:e:org.cpp:						ruserMode:t->F[1],userMuserModeususerMode:erMode::userMode:ode: 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ruseruserMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMuserMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:odeuserMode::userMode::userMuserMode:userMode:ode:uuserMode:seuseuserMode:rMode:rMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerMode:eruserMode:MouseuserMode:rMode:duuserMode:serMode:euserMuserModeuseuserMode:rModeuserModeuserMode::::oduserModeuserMode::e::userModuserMode:e:userMode:userMode:ususeuserMode:rMode:eruuserMode:serMode:ModuserMode:euserMode::uuserMode:seruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userModeuserModeuserMode::ususerMode:eruserMode:Mode::useruserMode:MuseruserMode:Mode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMouserMode:de:uuserMode:serMode:useruserModuserMouseuserMode:rMode:de:euuuserMode:serMode:serMode::ModeuuserMode:seuserMode:rMode::userMode:userMouuserModuseruserMode:Mode:e:serMode:duserMode:e:useruserModeuseuserMode:rMode::Mode:userModuserModuserModeuserMode::e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:useuserMode:rMode:userMode:userMode:uuserModeuserMouseruserMode:Mode:de:userMode::userMode:seruuserMode:seruserMode:Mode:ModuserMode:euserMode:useuserMode:rMode::userMuuseuserMode:rMode:serMode:odeuserMode::useuserMode:rMode:userMode:userMode:useruserMuserMode:ode:ModuserMode:euseuserMode:ruuserMode:serMode:Mode::ususeuserMode:rMode:erMode:userMode:userModuserMode:e:useruserMode:MouserModeuserMode::userMode:de:useuserModuserMode:e:ususerMode:euserMode:rMode:ruserMode:userMode:ModuserMode:eususerModeuserMode::erMode::userMode:ususerMode:erMode:userMode:ususerMode:erMode:userMode:uuserMode:seruserMode:ModeususerModeuserModeuserMode:userMode:::erMode::userModuserMode:euserModeuserMode:::userMouserMode:de:userMuserMode:ode:useuserMouserMode:de:rMode:useruserMode:ModeuserMouserMode:de::useususerMuserMode:ode:erModeuserMode::rususeuserMode:rMode:erMode:userMode:Mode:ususerMode:euserMode:rMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:userMuserMode:ode:riuseruserMode:MuserMouserMode:de:ode:nuserMode:userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserMode::serMode::serMode:userMouuserMode:suserModuserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouserMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMode:eruserMode:Mode:userModuserMode:userMode:euuserModeuserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMode:ode:userMode:userModeuserMode::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserMode:rModuserMode:e:de:uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:de:Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruserMode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:ode:suserMode:erMode:3*rt->jguserMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuserMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMouserModuserMode:e:de:useruserMuserMode:oduseususerMode:erMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserMode::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:serMode:rMode:userMode:userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserMode:MuserMode:ode:userModeuseuserMode:rModuserMode:e:userMode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuserMode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:userModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:userModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuuserMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserMode:ModeuserMode::useuuserMode:serMode:rMusuuserMode:serMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruserMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:MuserMode:ode:useruseuserMode:rMode:MuserMode:ouserMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuserMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:userMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:useruserMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:e::userMode:useruserModeuserMode::Mode:userModeuserModeuserMode::userMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMode:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruserMode:Mode:userMode:uuserMode:serMuserMode:ode:useuserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserMode:rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userModeuserMode:userMode::7.3*ruserMode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouserMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:eruserMode:Mode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModuserMode:euserMode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:erMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserMode:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruuserMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuseruserMode:Mode:euserMode::userMode:userModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:MouserMode:deuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:ususerMode:userMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserModuserMode:e::useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeuseruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMuserMode:ode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::userMode:userModeuseruserMode:Mode::useruserModuserMode:e:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::ModuserMode:e::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rMode:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuserMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userMode:Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModuserMode:euserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduserMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMoususerMode:erMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserMode:euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:ModeuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserMode:Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouserMode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:Mode:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:Mode:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususerMode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuserMode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuserMode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuserMode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuserMode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuserMode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMode:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:Mode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuserMode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuserMode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:userMode:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuseruserMode:Mode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuseruserMode:Mode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMuserMode:ode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuserMode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:Mode:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:userMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuserMode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserMode:Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruserMode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::deuserMode::useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruseruserMode:MouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuuserMode:serMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userModeuserMode::userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouseuserMode:rMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduserMode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuserMode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouserMode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuserMode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruserMode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuserMode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serModeuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:ususerMode:eruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:userMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:ususerMode:euserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuseuserMode:rMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMuserMode:ode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuseuserMode:rMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMouserMode:de:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMouserMode:duserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserModeuserMode::userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuseuserMode:rMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::userususerMode:erMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:useruserMode:Mode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeuserMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:userMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruserMode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserMode:ModeuserMode::de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoal[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserMode:duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuseuserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::userMode:ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:odususerMode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserMode:Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserMode:e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususeuserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuserMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMode:Mode::userMode:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruseuserMode:rMode:t-userMode:>duseruserMode:MouserMode:de:esiruserMode:edForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode::userMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useruserMode:Mode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMode:de:userMode:userususerMode:eruserMode:Mode:ModeuserMode::ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:userMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMode:userMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode:userMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeuuserMode:suserMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:euserMode::MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useuserMode:ruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuseuserMode:rMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserModeuserMode::Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserModeuserMode::serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rModeuserMode::Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruserMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:useuserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruseuserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuserMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: 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rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::userMode:userModuserMode:userMode:e:useuserModuserMode:e:ruserModeuserMode::Mode:userMuseruserMouserMode:de:Mode:odeuserMuserMode:oduserMode:e::userModeuserMode::uuserMode:seruserModuserMode:e:Mode:useuserModeuserMode::userMode:rMuserMode:odeuserMode:ususerMode:erMode::userMode:ususerMode:eruserMuseruserMouserMode:de:Mode:ode:Mode:userMouserMode:deuserModeuserMode:userMode:::userModuserMode:e:useruseruserMode:Mode:MouserMode:de:ususerMode:erMuserMode:ouserMode:deuserMuserMode:ode::uuserMode:serMode:useruuseruseruserMode:ModeuserMode::MouserMode:de:serMuserMode:ode:ModuserMode:e:useuseuserMouserMode:de:rMode:rModeususerMode:eruserModuserMode:e:Mode::userMode:useruserModuserMode:e:MuserMode:oduserMode:e:userModeuseruserMode:Mode::userMouserMode:deuserMode::uuserMode:seruserMode:Mode:ususerMode:erModeuuseruserMode:Mode:serMode::userMouserMode:duserMode:e:useruseuseruserMode:Mode:rMode:ModeuserMode::userModeuseususeruserMode:MouserMode:de:eruserModeuseruserMode:Mode::ModeususerMode:erMode::rMode::userMuserModeuserMode::ode:useruserMode:MouuserMode:serMode:userMode:de:userModeuuserMode:suserMode:erModeuserMuserMode:ode:::userMode:useususerMode:erModeuserMode::ruserMode:Mode:userMode:userModeuseruserModeuserMode::Mode::useruserMode:ModeususerMode:erMode::uuserMode:serMode:userMode:ususerMode:eruseruuseruserMode:useruserMode:Mode:Mode:serMode:ModeuserMode::MouserModeuseruserMouserMode:de:Mode::duserMode:userMode:userMode:e:userModeususerMode:erModuserMode:e::userMode:ususerMode:eruserMode:ModeuserMouuserMode:serModeuserMode::de::uuserMode:suserModeuserMode::erMode:userMode:useruserMuserMuserMode:ode:odeuserMode::ModuserMode:e:userModeuseuserMode:ruserMode:Mode::userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::useuserMode:ruserMode:ModeuserModeuserMode::userMode::uuserMode:seruuseruserMode:Mode:serMode:Mode:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:uuserMode:suserMode:erusuuserMode:userMode:serMode:userMode:eruserMode:userMode:ModuseruserMode:Mode:e:org.cpp:						ruserMode:t->F[1],userMuserModeususerMode:erMode::userMode:ode: 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ruseruserMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMuserMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:odeuserMode::userMode::userMuserMode:userMode:ode:uuserMode:seuseuserMode:rMode:rMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerMode:eruserMode:MouseuserMode:rMode:duuserMode:serMode:euserMuserModeuseuserMode:rModeuserModeuserMode::::oduserModeuserMode::e::userModuserMode:e:userMode:userMode:ususeuserMode:rMode:eruuserMode:serMode:ModuserMode:euserMode::uuserMode:seruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userModeuserModeuserMode::ususerMode:eruserMode:Mode::useruserMode:MuseruserMode:Mode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMouserMode:de:uuserMode:serMode:useruserModuserMouseuserMode:rMode:de:euuuserMode:serMode:serMode::ModeuuserMode:seuserMode:rMode::userMode:userMouuserModuseruserMode:Mode:e:serMode:duserMode:e:useruserModeuseuserMode:rMode::Mode:userModuserModuserModeuserMode::e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:useuserMode:rMode:userMode:userMode:uuserModeuserMouseruserMode:Mode:de:userMode::userMode:seruuserMode:seruserMode:Mode:ModuserMode:euserMode:useuserMode:rMode::userMuuseuserMode:rMode:serMode:odeuserMode::useuserMode:rMode:userMode:userMode:useruserMuserMode:ode:ModuserMode:euseuserMode:ruuserMode:serMode:Mode::ususeuserMode:rMode:erMode:userMode:userModuserMode:e:useruserMode:MouserModeuserMode::userMode:de:useuserModuserMode:e:ususerMode:euserMode:rMode:ruserMode:userMode:ModuserMode:eususerModeuserMode::erMode::userMode:ususerMode:erMode:userMode:ususerMode:erMode:userMode:uuserMode:seruserMode:ModeususerModeuserModeuserMode:userMode:::erMode::userModuserMode:euserModeuserMode:::userMouserMode:de:userMuserMode:ode:useuserMouserMode:de:rMode:useruserMode:ModeuserMouserMode:de::useususerMuserMode:ode:erModeuserMode::rususeuserMode:rMode:erMode:userMode:Mode:ususerMode:euserMode:rMode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:userMuserMode:ode:riuseruserMode:MuserMouserMode:de:ode:nuserMode:userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserMode::serMode::serMode:userMouuserMode:suserMuserMode:oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouserMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMode:eruserMode:Mode:userModuserMode:userMode:euuserModeuserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMode:ode:userMode:userModeuserMode::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserMode:rModuserMode:e:de:uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:de:Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruserMode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:ode:suserMode:erMode:3*rt->jguserMode:userMode:oal[0], 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57userMouseuserMode:rMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouserMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMode:eruserMode:Mode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduserModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:erMode:serModeuserususerMode:erMode:Mode::p:				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserMode:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 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57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuserMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuserMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userModeuserMode::Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModuserMode:euserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduserMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMoususerMode:erMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:ruserMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserMode::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuserMode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMode:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserMode:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:userModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuserMode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuserMode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususerMode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuserMode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuserMode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuserMode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuserMode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuserMode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:Mode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuserMode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:useuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuserMode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuseuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:userMode:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuseruserMode:Mode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuseruserMode:Mode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMuserMode:ode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuserMode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:serMode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:ModuserMode:e:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:userMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuserMode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouserMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruseruserMode:Mode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::deuserMode::useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruseruserMode:MouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuuserMode:serMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userModeuserMode::userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouseuserMode:rMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduserMode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuserMode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouserMode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuserMode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruserMode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuserMode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:userModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:ususerMode:eruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:userMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:ususerMode:euserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuseuserMode:rMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMuserMode:ode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:ModeususerMode:eruuserMode:serMode:Mode::userMouserMode:deuseuserMode:rMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:userMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMouserMode:de:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMouserMode:duserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserModeuserMode::userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuseuserMode:rMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::userususerMode:erMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:useruserMode:Mode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserMode:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:userMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruserMode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserMode:ModeuserMode::de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMode:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserMode:duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuseuserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MouserMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::userMode:ususerMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:odususeruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModeuuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserMode:Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserMode:e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususeuserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:ode:useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::userMode:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMode:Mode::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruseuserMode:rMode:t-userMode:>duseruserMode:MouserMode:de:esiruserMode:edForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:e:Mode:userMode:userModeuserModeuserMode::userMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useruserMode:Mode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMouserMode:de:de:userMode:userususerMode:eruserMode:Mode:ModeuserMode::ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:userMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMode:userMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode:userMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeuuserMode:suserMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:euserMode::MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useuserMode:ruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuseuserMode:rMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserModeuserMode::Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserModeuserMode::serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rModeuserMode::Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:useuserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruseuserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMode:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuseruserMode:MouserMode:duserMode:e::userMode:uuserMode:serMode:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:euserMode:ruuserMode:serModeuserMode::Mode:userMode:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:seuserMode:rMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:userMode:rMode:userMode:userMode:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserModeuserMode::MouseuseruserMode:ModuserMode:e:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususeuserMode:rMode:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMouseruserMode:Mode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: 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rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuserMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userModeuserMode::Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModuserMode:euserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduserMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMoususerMode:erMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMode:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:rususerMode:erMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserMode:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userMode:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserMode:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			rt->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:useuserMode:rModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:de:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserMode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuserMode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususerMode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuserMode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuserMode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuserMode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuserMode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuserMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:Mode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuserMode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuserMode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuserMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:userMode:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuseruserMode:Mode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuseruserMode:Mode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMuserMode:ode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuserMode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:ModuserMode:e:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:userMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuserMode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:Mode:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:Mode:userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMuserMode:ode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruseruserMode:Mode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::deuserMode::useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruseruserMode:MouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuuserMode:serMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userModeuserMode::userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouseuserMode:rMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uuserModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuserMode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduserMode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuserMode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouserMode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuserMode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruserMode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuserMode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuserMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:ususerMode:eruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:userMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:ususerMode:euserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuseuserMode:rMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuserMode:rMode:userMode:uuseruserMode:Mode:serususerMuserMode:ode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:MouserMode:deususerMode:eruuserMode:serMode:Mode::userMouserMode:deuseuserMode:rMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:userMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMouserMode:de:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMouserMode:duserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserModeuserMode::userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuseuserMode:rMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::userususerMode:erMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:useruserMode:Mode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserMode:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:userMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruserMode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserMode:ModeuserMode::de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serModeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserMode:duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuseuserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serMode::e:ruserMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::userMode:usususerMode:erMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:odususeruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserMode:Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserMode:e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususeuserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserMode:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruserMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::userModuserMode:e:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMode:Mode::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:userMode:userMode: ruseuserMode:rMode:t-userMode:>duseruserMode:MouserMode:de:esiruserMode:edForuuserMode:suseuserMode:rMouserMode:de:erMode:userususerMode:erMode:Mode:uuserModeuserMode::serMode:userMode:ususeruserMode:Mode:eruserMode:userModuserMode:euserMode::Mode:userMode:userModeuserModeuserMode::userMode::uuserMode:serMode:userMode:useruserMode:MuserMode:ode:useruserMode:Mode:userModuuseruserMode:Mode:serMouserMode:de:e:useruserMode:MuserMode:oduseuserMode:rMode:e:useuserMouserMode:de:ususerMode:erMode:rMouserMouserMode:de:de:userMode:userususerMode:eruserMode:Mode:ModeuserMode::ususerMode:erMode:ususerMode:erMode:uuuserMode:serMode:seruserMode:userMode:Mode:userususerMode:euserMode:rMode:Mode:userMode:useruserMuserMode:ode:ModeuserMode::uuserModeuserMode::serMuserMode:ode:useuserMode:userMouserMode:de:rMode:uuserMode:seruuserMode:serMode:ModeuserMode:userMode::userModuserMouserMode:deuserMode::userMode:e:userMode:useuserMode:ruserModeuuserMode:suserMode:erMode::Mode:userMode:userMoususeuserMode:rMode:erMuserMode:ode:de:useruserModuserMode:euserMode::MouserMode:duserMode:e:uuserMode:serMode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:Mode:userMode:uuserMode:serMode:userMode:useruseruseruserMode:Mode:MuserMode:ouseuserMode:rMode:de:Mode:userMouserMode:de:userMuserMode:odeuserModeuserMode:::useuserMode:ruserMode:userMode:ModuserMode:e:useuserModeuserMode::rMode:userMode:ususeuseuserMode:rMode:rMode:euserMouserMode:de:ruseruserMouserMode:de:Mode:Mode:userMouuserMode:serMode:userMode:de:userMode:uuserMode:sususerMode:erMode:eruserMouserMode:de:Mode:useruserModeuserMode::Mode:userMode:useruserModeuserMode::Mode:userMouserMode:de:userMode:userModeuuserModeuserMode::serMode::uuserMode:seruserMode:Mode:userMuseuserModeuseruserModuserMode:e:Mode::rMode:ode:userMuserMode:ode:useruserMode:useuseruserMode:MuuserMode:serMode:ode:rModeuserMode::Mode:pp:		userMode:	uuseuserMode:rMode:serMode:		userMode:		rtuserMode:->desiredForce[userususerMode:eruserMode:Mode:Mode:ususerMode:erMode:uuserMode:serususerMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:useuserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruseuserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuserMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuseruserMode:MouserMode:duserMode:e::userMode:uuserMode:serMode:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:euserMode:ruuserMode:serModeuserMode::Mode:userMode:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:seuserMode:rMode:ususerMode:erModuserModuserMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:userMode:rMode:userMode:userModuserMode:e:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserModeuserMode::MouseuseruserMode:ModuserMode:e:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususeuserMode:rMode:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMouseruserMode:Mode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:ModuserMode:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], 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57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 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rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userModeuserMode::Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModuserMode:euserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduserMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMoususerMode:erMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserModuserMode:e:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:rususerMode:erMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:seruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:Mode:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::userMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeuserMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserMode::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuserMode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuserMode:uuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:useuserMode:rModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:Mode:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rMode:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserMode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuserMode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususerMode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuserMode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuserMode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuserMode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuserMode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuuserMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:Mode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuserMode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerMode:erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuserMode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rModeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:userMode:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuseruserMode:Mode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuseruserMode:Mode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMuserMode:ode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuserMode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:ususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:ModuserMode:e:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:userMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuserMode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userMode:userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMuserMode:ode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruseruserMode:Mode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::deuserMode::useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruseruserMode:MouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuuserMode:serMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userModeuserMode::userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouseuserMode:rMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserMode:Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uususerMode:erModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuserMode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduserMode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuserMode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouserMode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuserMode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruserMode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuserMode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuserModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuseuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:ususerMode:eruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:userMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:ususerMode:euserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:useruserMode:Mode:ususerMode:eruserMouserModuseuserMode:rMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuseuserMode:rMode:rMode:userMode:uuseruserMode:Mode:serususerMuserMode:ode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:MouserMode:deususerMode:eruuserMode:serMode:Mode::userMouserMode:deuseuserMode:rMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:userMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMouserMode:de:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMouserMode:duserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserModeuserMode::userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuseuserMode:rMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::userususerMode:erMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:useruserMode:Mode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeuserMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:userMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruserMode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserMode:ModeuserMode::de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruserMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserMode:odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserMode:duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModuseuserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::					userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serMode::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::userMode:usususerMode:erMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:odususeruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserMode:Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserMode:e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususeuserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:de:userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeuserMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruserMode:userMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::userModuserMode:e:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMode:Mode::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:Mode:rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:useuserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruseuserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ode:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuseruserMode:MouserMode:duserMode:e::userMode:uuserMode:serMode:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:euserMode:ruuserMode:serModeuserMode::Mode:userMode:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:seuserMode:rMode:ususerMode:erModuserModususerMode:erMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:userMode:rMode:userMode:userModuserMode:e:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserModeuserMode::MouseuseruserMode:ModuserMode:e:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususeuserMode:rMode:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMouseruserMode:Mode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMode:userMode:ususerMode:eruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouserMode:duserMode:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:de:erMode:Mode:Mode:userMode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMouserMode:de:userMode:Mode:userMode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:MouserMode:de:userMode:userMouserMode:duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:userMode:useruuserMode:serMouserModeuserMode::de:Mode:uuserMode:serMode:userMode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserModuserMode:e:de:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuserModeuserMode::userMode:serMode:userMode:userModuserMode:e:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMode:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserMode:duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMuserMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:odeuserMode::userMode::userMuserMode:userMode:ode:uuserMode:seuseuserMode:rMode:rMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerMode:eruserMode:MouseuserMode:rMode:duuserMode:serMode:euserMuserModeuseuserMode:rModeuserModeuserMode::::oduserModeuserMode::e::userModuserMode:e:userMode:userMode:ususeuserMode:rMode:eruuserMode:serMode:ModuserMode:euserMode::uuserMode:seruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userModeuserModeuserMode::ususerMode:eruserMode:Mode::useruserMode:MuseruserMode:Mode:ouserMode:deuseruserMode:Mode::userMode:userMode:userMouserMode:de:uuserMode:serMode:useruserModuserMouseuserMode:rMode:de:euuuserMode:serMode:serMode::ModeuuserMode:seuserMode:rMode::userMode:userMouuserModuseruserMode:Mode:e:serMode:duserMode:e:useruserModeuseuserMode:rMode::Mode:userModuserModuserModeuserMode::e:e:useruserMode:ModeuseuserModeuserMode::rMode::userMode:useuserMode:rMode:userMode:userMode:uuserModeuserMouseruserMode:Mode:de:userMode::userMode:seruuserMode:seruserMode:Mode:ModuserMode:euserMode:useuserMode:rMode::userMuuseuserMode:rMode:serMode:odeuserMode::useuserMode:rMode:userMode:userMode:useruserMuseruserMode:Mode:ode:ModuserMode:euseuserMode:ruuserMode:serMode:Mode::ususeuserMode:rMode:erMode:userMode:userModuserMode:e:useruserMode:MouserModeuserMode::userMode:de:useuserModuserMode:e:ususerMode:euserMode:rMode:ruserMode:userMode:ModuserMode:eususerModeuserMode::erMode::userMode:ususerMode:erMode:userMode:ususerMode:eruserMode:Mode:userMode:uuserMode:seruserMode:ModeususerModeuserModeuserMode:userMode:::erMode::userModuserMode:euserModeuserMode:::userMouserMode:de:userMuserMode:ode:useuserMouserMode:de:rMode:useruserMode:ModeuserMouserMode:de::useususerMuserMode:ode:erModeuserMode::rususeuserMode:rMode:erMode:userMode:Mode:ususerMode:euserMode:ruserMode:Mode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:userMuserMode:ode:riuseruserMode:MuserMouserMode:de:ode:nuserMode:userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserMode::serMode::serMode:userMouuserMode:suserMuserMode:oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouserMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userMode:ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMode:eruserMode:Mode:userModuserMode:userMode:euuserModeuserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMode:ode:userModeuserMode::userModeuserMode::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserMode:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:de:Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:ode:suserMode:erMode:3*rt->jguserMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuserMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMode:oduseususerMode:erMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserMode::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:serMode:rMode:userMode:userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserMode:MuserMode:ode:userModeuseuserMode:rModuserMode:e:userMode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuserMode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:userModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuuserMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserModeuserMode::ModeuserMode::useuuserMode:serMode:rMusuuserMode:serMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruserMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouserMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuserMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuserMode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:useruserMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:e::userMode:useruserModeuserMode::Mode:userModeuserModeuserMode::userMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMode:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruserMode:Mode:userMode:uuserMode:serMuserMode:ode:useuserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserMode:rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMuserMode:ode:eruserMode:Mode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0], 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:erMode:serModeuserususerMode:erMode:Mode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuseruserMode:Mode:euserMode::userMode:userModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:MouserMode:deuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:uuserMode:suserMode:userMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserModuserMode:e::useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeususerMode:eruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMuserMode:ode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::uuserMode:serMode:userModeuseruserMode:Mode::useruserModuserMode:e:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::ModuserMode:e::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rModuserMode:e:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.useruserMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuserMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userModeuserMode::Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModuserMode:euserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:userMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduserMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMoususerMode:erMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:MouserMode:deuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserModuserMode:e:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:rususerMode:erMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMode:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuserMode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::Mode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMode:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuseruserMode:Mode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuserMode:uuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:useuserMode:rModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuserMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserMode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuserMode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususerMode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuserMode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuserMode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuserMode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuserMode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserMode:euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:Mode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuserMode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuserMode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserMode::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:userMode:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuseruserMode:Mode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuseruserMode:Mode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMuserMode:ode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuserMode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeuserMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMode:userMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:ususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:ModuserMode:e:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:userMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuserMode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMuserMode:ode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruseruserMode:Mode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::deuserMode::useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruseruserMode:MouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuuserMode:serMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userModeuserMode::userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouseuserMode:rMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euserMode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserModeuserMode::Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uususerMode:erModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuserMode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduserMode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuserMode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouserMode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuserMode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruserMode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuserMode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:de:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:userMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:ususerMode:eruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:userMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruuserMode:serMode:Mode:Mode:Mode:ususerMode:euserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:userususerMode:erMode:Mode:ususerMode:eruserMouserModuseuserMode:rMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuseuserMode:rMode:rMode:userMode:uuseruserMode:Mode:serususerMuserMode:ode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:MouserMode:deususerMode:eruuserMode:serMode:Mode::userMouserMode:deuseuserMode:rMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:userMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMouserMode:de:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMouserMode:duserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserModeuserMode::userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuseuserMode:rMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::userususerMode:erMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:useruserMode:Mode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:useususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:userMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruserMode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserMode:ModeuserMode::de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuseuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserMode:odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserMode:duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:userMode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	userMode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serMode::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::userMode:usususerMode:erMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:odususeruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouserMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserMode:Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserMode:e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususeuserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserMode:ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serMode:F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruserMode:userMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::userModuserMode:e:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMode:Mode::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:useuserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruseuserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:useruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuseruserMode:MouserMode:duserMode:e::userMode:uuserMode:serMode:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:euserMode:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:seuserMode:rMode:ususerMode:erModuserModususerMode:erMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:userMode:rMode:userMode:userModuserMode:e:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserModeuserMode::MouseuseruserMode:ModuserMode:e:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususeuserMode:rMode:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMouseruserMode:Mode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouserMode:duserMode:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:de:erMode:Mode:Mode:userMode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMouserMode:de:userMode:Mode:userMode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:MouserMode:de:userMode:userMouserMode:duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:userMode:useruuserMode:serMouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserModuserMode:e:de:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuserModeuserMode::userMode:serMode:userMode:userModuserMode:e:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMode:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserMode:duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], 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57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususerMode:erModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:erMode:serModeuserususerMode:erMode:Mode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuseruserMode:Mode:euserMode::userMode:uuserMode:serModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:MouserMode:deuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:uuserMode:suserMode:userMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserModuserMode:e::useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeususerMode:eruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMuserMode:ode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::uuserMode:serMode:userModeuseruserMode:Mode::useruserModuserMode:e:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::ModuserMode:e::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rModuserMode:e:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userModeuseruserMode:Mode::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuserMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userModeuserMode::Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModuserMode:euserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:useuserMode:rMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduserMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMoususerMode:erMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:MouserMode:deuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserModuserMode:e:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:rususerMode:erMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]ususerMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMode:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserMode::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMouserMode:de:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuseruserMode:Mode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuserMode:uuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:useuserMode:rModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userMode:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserMode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuserMode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususerMode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuserMode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuserMode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuserMode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuserMode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserMode:::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:Mode:rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuserMode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erModuseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:userMode:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuseruserMode:Mode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuseruserMode:Mode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMuserMode:ode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuserMode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeususerMode:erMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMode:userMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:ususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:ModuserMode:e:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:userMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:e:userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerMode:erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMuserMode:ode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruseruserMode:Mode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::deuserMode::useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruseruserMode:MouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuuserMode:serMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userModeuserMode::userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouseuserMode:rMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserMode:euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euseruserMode:Mode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserModeuserMode::Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uususerMode:erModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuserMode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduserMode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuserMode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouserMode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuserMode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruserMode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuserMode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userMode:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:useruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:ususerMode:erMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:ususerMode:eruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuserMode:oduserMode:e:ususerMode:userMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruususerMode:erMode:serMode:Mode:Mode:Mode:ususerMode:euserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:userususerMode:erMode:Mode:ususerMode:eruserMouserModuseuserMode:rMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuseuserMode:rMode:rMode:userMode:uuseruserMode:Mode:serususerMuserMode:ode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:MouserMode:deususerMode:eruuserMode:serMode:Mode::userMouserMode:deuseuserMode:rMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:userMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMouserMode:de:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMouserMode:duserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserModeuserMode::userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuseuserMode:rMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::userususerMode:erMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:useruserMode:Mode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[userMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:userMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruserMode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserMode:ModeuserMode::de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useuserMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserMode:odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMode:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:userModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:Mode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	userMode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serMode::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::userMode:usususerMode:erMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:odususeruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:eruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserMode:Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserMode:e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:ususeuserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userMode:ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruserMode:userMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::userModuserMode:e:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMode:Mode::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserMode:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:useuserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:useruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruseuserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuseruserMode:MouserMode:duserMode:e::userMode:uuserMode:serModuserMode:e:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:euserMode:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:seuserMode:rMode:ususerMode:erModuserModususerMode:erMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:userMode:rMode:userMode:userModuserMode:e:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserModeuserMode::MouseuseruserMode:ModuserMode:e:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususeuserMode:rMode:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMuserMode:ouseruserMode:Mode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouserMode:duserMode:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], 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ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserMode::serMode::serMode:userMouuserMode:suserMuserMode:oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouserMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuserMode:userMode:euuserModeuserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMode:ode:userModeuserMode::userModeuserMode::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserMode:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:de:Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:ode:suserMode:erMode:3*rt->jguserMode:userMode:oal[0], 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57userMouseuserMode:rMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMuserMode:ode:eruserMode:Mode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:serMode:e:useruserModeuseuserMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususerMode:erModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:erMode:serModeuserususerMode:erMode:Mode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],useruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuseruserMode:Mode:euserMode::userMode:uuserMode:serModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:MouserMode:deuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:uuserMode:suserMode:userMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserModuserMode:e::useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeususerMode:eruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMuserMode:ode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::uuserMode:serMode:userModeuseruserMode:Mode::useruserModuserMode:e:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::ModuserMode:e::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rModuserMode:e:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userMuserMode:odeuseruserMode:Mode::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuserMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userModeuserMode::Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:userMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModuserMode:euserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:useuserMode:rMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduserMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMoususerMode:erMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:MouserMode:deuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserModuserMode:e:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:rususerMode:erMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMode:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:ModeuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserMode:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuseruserMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rMode:Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useuserMode:ruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMouserMode:de:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuseruserMode:Mode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuserMode:uuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:useuserMode:rModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuserMode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserMode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuserMode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususerMode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuserMode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuserMode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuserMode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuserMode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMode:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuserMode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:userMode:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuseruserMode:Mode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuseruserMode:Mode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMuserMode:ode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuserMode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:userMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeususerMode:erMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMode:userMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:ususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:ModuserMode:e:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:userMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userMode:userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMuserMode:ode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruseruserMode:Mode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::deuserMode::useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruseruserMode:MouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuuserMode:serMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userModeuserMode::userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouseuserMode:rMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uuserMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserModeuserMode::euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euseruserMode:Mode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserModeuserMode::Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uususerMode:erModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuserMode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduserMode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuserMode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouserMode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuserMode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruserMode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuserMode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:ususerMode:eruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:ususerMode:erMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:>xeuserMode:ususerMode:eruuserMode:seuserMode:rMode:Mode:useuserMode:rModeuserMode:useruuserMode:serMode:Mode::userMouserMode:de:uuserMode:seruseususerMode:erMuserMode:ode:rMode:MuuserMode:serMode:oduserMode:e:ususerMode:userMode:erMode:userMode:ususerMuserMode:oduseruserMode:Mode:euserMode::eruserMode:ModeuserMode::userMouserMode:de:userMuseuserMode:rMode:ode:useruseruseruususerMode:erMode:serMode:Mode:Mode:Mode:ususerMode:euserMode:userMode:rMode:userMode:userModuserMode:e:uuserMuserMode:ode:seruuserMode:serMode:ModuserMode:userMode:e:userMode:ususerMode:erMode:userususerMode:erMode:Mode:ususerMode:eruserMouserModuseuserMode:rMode:e:de:ModeuserMode::userMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rMuseuserMode:rMode:ode:useruserMode:Mode:userMode:useuseuserMode:rMode:rMode:userMode:uuseruserMode:Mode:serususerMuserMode:ode:erMode:ModuserMode:userMode:e:userMode:useruserModuserMuserMode:ouserMode:de:e:Mode:userMode:usuuserMode:serMode:eruserMode:MouserMode:deususerMode:eruuserMode:serMode:Mode::userMouserMode:deuseuserMode:rMode::userMuseruserMode:Mode:ode:useruserMode:Mode:useuserMode:rModuserMode:e:userMuserMode:ode:uuserMode:seruserMode:MouserMode:userMode:duuserMode:serMuserMode:ode:e:useruseuserMode:rMode:Mode:ususerMode:erMode:ususerMode:erMode:usuuserMode:suserMode:erMode:eruserMode:ModeususerMouserMode:de:erMode::userMousuuserMouserMode:de:serMode:erMode:de:userMuserMode:ode:useruserMode:Mode:useuserMode:rMuserMouserMode:duserMode:e:odeuserMode::userMode:uuserMode:seruserMode:ModususerususerMode:erMode:Mode:erMuseruserModeuserMode::userMode:Mode:ode:e:useruserMode:Mode:ususerMode:erMode:ususerMode:eruserMode:ModeuseuserMode:rMode:uuserMode:suserMode:erMode::userMouserMouserMode:de:de:userMuserMode:odeuserMode::userususerMode:erMode:Mode:useususerMode:eruserMode:Mode:rMode:userMode:uuserMode:seruserMuseuserMode:ruserModuserMode:e:MouserMode:de:ode:userMode:ModuserMode:userMode:e:userMode:userMode:ususerMode:useruserMode:Mode:euserMode:ruserMuserMode:ode:org.userMode:userMode:cpuserMouserMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:userMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruserMode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserMode:ModeuserMode::de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserMode:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususerMode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserMode:odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oduserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:erMoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:Mode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	userMode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serMode::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::userMode:usususerMode:erMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:odususeruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserMode:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserMode:Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserMode:e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:userMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruserMode:userMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::userModuserMode:e:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMode:Mode::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:userMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:useuserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruseuserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userModeuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuseruserMode:MouserMode:duserMode:e::userMode:uuserMode:serModuserMode:e:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:euserMode:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:seuserMode:rMode:ususerMode:erModuserModususerMode:erMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:userMode:rMode:userMode:userModuserMode:e:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserModeuserMode::MouseuseruserMode:ModuserMode:e:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususeuserMode:rMode:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMuserMode:ouseruserMode:Mode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouserMode:duserMode:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:de:erMode:Mode:Mode:userMode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMouserMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:userMode:useruuserMode:serMouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserModuserMode:e:de:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuserModeuserMode::userMode:serMode:userMode:userModuserMode:e:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMode:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserMode:duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMuserMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:odeuserMode::userMode::userMuserMode:userMode:ode:uuserMode:seuseuserMode:rMode:rMode:userMode:useruserMode:ModeuseruserMode:Mode::userMode:userMode:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerMode:eruserMode:MouseuserMode:rMode:duuserMode:serMode:euserMuserModeuseuserMode:rModeuserModeuseuserMode:rMode::::oduserModeuserMode::e::userModuserMode:e:userMode:userMode:ususeuserMode:rMode:eruuserMode:serMode:ModuserMode:euserMode::uuserMode:seruserMode:Mode:userMode:userMode:uuserModeuserMode::serMode:userModeuserModeuserMode::ususerMode:eruserMode:Mode::useruserMode:MuseruserMode:Mode:ouserMode:deuseruuserMode:serMode:Mode::userMode:userMode:userMouserMode:de:uuserMode:serMode:useruserModuserMouseuserMode:rMode:de:euuuserMode:serMode:serMode::ModeuuserMode:seuserMode:rMode::userMode:userMouuserModuseruserMode:Mode:e:serMode:duserMode:e:useruserModeuseuserMode:rMode::Mode:userModuserModuserModeuserMode::e:e:useruserMode:userMode:ModeuseuserModeuserMode::rMode::userMode:useuserMode:rMode:userMode:userMode:uuserModeuserMouseruserMode:Mode:de:userMode::userMode:seruuserMode:seruserMode:Mode:ModuserMode:euserMode:useuserMode:rMode::userMuuseuserMode:rMode:serMode:odeuserMode::useuserMode:rMode:userMode:userMode:useruserMuseruserMode:Mode:ode:ModuserMode:euseuserMode:ruuserMode:serMode:Mode::ususeuserMode:rMode:erMode:userMode:userModuserMode:e:useruserMode:MouserModeuserMode::userMode:de:useuserModuserMode:e:ususerMode:euserMode:rMode:ruserMode:userMode:ModuserMode:eususerModeuserMode::erMode::userMode:ususerMode:erMode:userMode:ususerMode:eruserMode:Mode:userMode:uuserMode:seruserMode:ModeususerModeuserModeuserMode:userMode:::erMode::userModuserMode:euserModeuserMode:::userMouserMode:de:userMuserMode:ode:useuserMouserMode:de:rMode:useruserMode:ModeuserMouserMode:de::useususerMuserMode:ode:erModeuserMode::rususeuserMode:rMode:erMode:userMode:Mode:ususerMode:euserMode:ruserMode:Mode:userMode:userMuserMode:oduserMode:e:useruserMode::puserMode:userMuserMode:ode:riuseruserMode:MuserMouserMode:de:ode:nuserMode:userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserMode::serMode::serMode:userMouuserMode:suserMuserMode:oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouserMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuserMode:userMode:euuserModeuserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMode:ode:userModeuserMode::userModeuserMode::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserMode:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:de:Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:ode:suserMode:erMode:3*rt->jguserMode:userMode:oal[0], 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57userMouseuserMode:rMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:Mode:rMuserMode:ode:ususerMuserMode:ode:eruserMode:Mode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususerMode:erModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:erMode:serModeuserususerMode:erMode:Mode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:Mode:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuseruserMode:Mode:euserMode::userMode:uuserMode:serModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:MouserMode:deuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:uuserMode:suserMode:userMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserModuserMode:e::useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeususerMode:eruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMuserMode:ode:de:ModeuseruseuserMode:rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::uuserMode:serMode:userModeuseruserMode:Mode::useruserModuserMode:e:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::ModuserModeuserMode::e::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rModuserMode:e:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userMuserMode:odeuseruserMode:Mode::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:useruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userModeuserMode::Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:userMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModuserMode:euserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:useuserMode:rMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduserMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMoususerMode:erMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:MouserMode:deuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserModuserMode:e:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMode:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:rususerMode:erMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::uuserMode:serMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userModuserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouserMode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rMode:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuserMode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserMode:rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuserMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouserMode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rModeuserMode::Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useuserMode:ruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMouserMode:de:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuseruserMode:Mode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuserMode:uuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:useuserMode:rModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruserMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserMode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuserMode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususerMode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuserMode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuserMode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuserMode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuserMode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerMode:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:Mode:deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:userMode:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuseruserMode:Mode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuseruserMode:Mode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMuserMode:ode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMode:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuseruserMode:Mode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:userMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeususerMode:erMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMode:userMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:ususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:ModuserMode:e:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:userMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode:userMode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuserMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMuserMode:ode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruseruserMode:Mode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::deuserMode::useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruseruserMode:MouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuuserMode:serMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userModeuserMode::userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouseuserMode:rMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:userMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uususerMode:erMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserModeuserMode::euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euseruserMode:Mode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserModeuserMode::Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uususerMode:erModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuserMode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduserMode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuserMode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouserMode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuserMode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruserMode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:ode:rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::userMode:Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:ususerMode:eruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:ususerMode:erMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userMode:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:userMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruserMode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserMode:ModeuserMode::de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususerMode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserMode:odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserMode:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserMode:duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuserModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:Mode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	userMode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serMode::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::userMode:usususerMode:erMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:odususeruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMode:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:Mode:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserMode:Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uuserMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruserMode:userMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::userModuserMode:e:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMode:Mode::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:ususerMode:erMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:useruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruseuserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouserMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuseruserMode:MouserMode:duserMode:e::userMode:uuserMode:serModuserMode:e:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:euserMode:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:seuserMode:rMode:ususerMode:erModuserModususerMode:erMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:userMode:rMode:userMode:userModuserMode:e:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserModeuserMode::MouseuseruserMode:ModuserMode:e:rMode:deuseruseuserMode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususeuserMode:rModuserMode:e:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMuserMode:ouseruserMode:Mode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouserMode:duserMode:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:F[0],useruserMode:MouserMode:deuserMode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:de:erMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMouserMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:userMode:useruuserMode:serMouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserModuserMode:e:de:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuserModeuserMode::userMode:serMode:userMode:userModuserMode:e:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMode:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserMode:duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMuserMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserMode::serMode::serMode:userMouuserMode:suserMuserMode:oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouserMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuserMode:userMode:euuserModeuserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMode:ode:userModeuserMode::userModeuserMode::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserMode:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:de:Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuserMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMode:oduseususerMuserMode:ode:erMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserMode::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:serMode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserMode:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuserMode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:userModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuuserMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserModeuserMode::ModeuserMode::useuuserMode:serMode:rMusuuserMode:serMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruserMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuserMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuserMode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:useruserMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:euserMode:::userMode:useruserModeuserMode::Mode:userModeuserModeuserMode::userMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMode:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:useuserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserMode:rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:Mode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususerMode:erModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:erMode:serModeuserususerMode:erMode:Mode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuseruserMode:Mode:euserMode::userMode:uuserMode:serModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:MouserMode:deuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:uuserMode:suserMode:userMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserModuserMode:e::useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userModeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeususerMode:eruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMuserMode:ode:de:ModeuseruseuserModeuserMode::rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::uuserMode:serMode:userModeuseruserMode:Mode::useruserModuserMode:e:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::ModuserModeuserMode::e::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rModuserMode:e:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userMuserMode:odeuseruserMode:Mode::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:serMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userModeuserMode::Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:userMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModuserMode:euserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:useuserMode:rMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduserMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMoususerMode:erMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:MouserMode:deuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userMode:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserModuserMode:e:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMouserMode:de:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:rususerMode:erMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::uuserMode:serMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:ModeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userMode:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:Mode:ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-ususerMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::userMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouserMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuserMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::userModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouseruserMode:Mode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rModeuserMode::Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useuserMode:ruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMouserMode:de:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuseruserMode:Mode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuserMode:uuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:useuserMode:rModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuserMode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserMode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuserMode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususerMode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuserMode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuserMode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuserMode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuserMode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:userMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:userMode:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuseruserMode:Mode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuseruserMode:Mode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMuserMode:ode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMouserMode:de:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuseruserMode:Mode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:userMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeususerMode:erMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMode:userMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:ususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:ModuserMode:e:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:userMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruserMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e:userMode::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode:userMode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerMode:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMuserMode:ode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruseruserMode:Mode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::deuserMode::useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruseruserMode:MouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuuserMode:serMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userModeuserMode::userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeususeususerMode:euserMode:rMode:rMode:userMode:erMouseuserMode:rMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uususerMode:erMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserModeuserMode::euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euseruserMode:Mode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserModeuserMode::Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uususerMode:erModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuserMode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduserMode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuserMode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouserMode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuserMode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:de:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:odeuserMode::rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::userMode:Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:ususerMode:eruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:ususerMode:erMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puserMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:userMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruserMode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususerMode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserMode:odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserMode:duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserMode:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:Mode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	userMode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serMode::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::userMode:usususerMode:erMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:odususeruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruserMode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:userMode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserMode:Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uususerMode:erMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruserMode:userMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::userModuserMode:e:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMode:Mode::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:userMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:ususerMode:erMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruseuserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuserMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuseruserMode:MouserMode:duserMode:e::userMode:uuserMode:serModuserMode:e:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:euserMode:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:seuserMode:rMode:ususerMode:erModuserModususerMode:erMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:userMode:rMode:userMode:userModuserMode:e:userMode:userModuserMode:e:userModeususerMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserModeuserMode::MouseuseruserMode:ModuserMode:e:rMode:deuseruseuserMuserMode:ode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususeuserMode:rModuserMode:e:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMuserMode:ouseruserMode:Mode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouserMode:duserMode:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:de:erMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMouserMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:userMode:useruuserMode:serMouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserModuserMode:e:de:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuserModeuserMode::userMode:serMode:userMode:userModuserMode:e:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMode:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMuserMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserMode::serMode::serMode:userMouuserMode:suserMuserMode:oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouserMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:userModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuserMode:userMode:euuserModeuserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserMode:Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMode:ode:userModeuserMode::userModeuserMode::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserMode:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:oal[0], 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57userMouseuserMode:rMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:Mode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususerMode:erModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:erMuserMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruserMode:Mode:serModeuserususerMode:erMode:Mode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuseruserMode:Mode:euserMode::userMode:uuserMode:serModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:MouserMode:deuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:uuserMode:suserMode:userMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserModuserMode:e::useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMuserMode:odeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeususerMode:eruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMuserMode:ode:de:ModeuseruseuserModeuserMode::rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::uuserMode:serMode:userModeuseruserMode:Mode::useruserModuserMode:e:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::ModuserModeuserMode::e::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rModuserMode:e:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userMuserMode:odeuseruserMode:Mode::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:erModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userModeuserMode::Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:userMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModuserMode:euserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:useuserMode:rMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduserMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMoususerMode:erMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:MouserMode:deuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userModuserMode:e:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserModuserMode:e:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMouserMode:de:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:rususerMode:erMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::uuserMode:serMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuserMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserMode:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::userMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserModeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::useuserMode:rModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouseruserMode:Mode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rModeuserMode::Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useuserMode:ruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMouserMode:de:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuseruserMode:Mode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuserMode:uuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:useuserMode:rModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:e:MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserMode:userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserMode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuserMode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususerMode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuserMode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuserMode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuserMode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuserMode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuserMode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserMode::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:userMode:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuseruserMode:Mode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuseruserMode:Mode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMuserMode:ode:e:Mode:erMuserMode:ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMuserMode:ouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMouserMode:de:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuseruserMode:Mode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:userMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeususerMode:erMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMode:userMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:ususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:ModuserMode:e:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:userMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruseuserMode:rMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e:userMode::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode:userMode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMuserMode:ode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruseruserMode:Mode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::deuserMode::useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruseruserMode:MouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuuserMode:serMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuseuserMode:rMode:rMode::userMode:userMode:userModeuserMode::userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeusususerMode:eususerMode:euserMode:rMode:rMode:userMode:erMouseuserMode:rMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uususerMode:erMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserModeuserMode::euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euseruserMode:Mode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserModeuserMode::Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uususerMode:erModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuserMode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduserMode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuserMode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouserMode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:Mode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:useuserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:duserMode:e:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:odeuserMode::rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::userMode:Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:ususerMode:eruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:ususerMode:erMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userMode:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:userMode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususerMode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserMode:odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserMode:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserMode:duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:userMode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:Mode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	userMode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serMode::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::userMode:usususerMode:erMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:ode:rMuserMode:odususeruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:userMode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserMode:Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:ususeuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uususerMode:erMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruserMode:userMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::userModuserMode:e:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::Mode::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:userMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:ususerMode:erMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuserModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruseuserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMode::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuseruserMode:MouserMode:duserMode:e::userMode:uuserMode:serModuserMode:e:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:euserMode:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:seuserMode:rMode:ususerMode:erModuserModususerMode:erMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:userMode:rMode:userMode:userModuserMode:e:userMode:userModuserMode:e:userModeusuuserMode:serMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserModeuserMode::MouseuseruserMode:ModuserMode:e:rMode:deuseruseuserMuserMode:ode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususeuserMode:rModuserMode:e:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMuserMode:ouseruserMode:Mode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouserMode:duserMode:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouserMode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:de:erMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMouserMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:userMode:useruuserMode:serMouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserModuserMode:e:de:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuserModeuserMode::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMode:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMuserMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], 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57userMouseuserMode:rMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:Mode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususerMode:erModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMuserMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruserMode:Mode:serModeuserususerMode:erMode:Mode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruserMode:ModuseruserMode:Mode:euserMode::userMode:uuserMode:serModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:MouserMode:deuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:MuserMode:odeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:uuserMode:suserMode:userMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserModuserMode:e::useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMuserMode:odeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeususerMode:eruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMuserMode:ode:de:ModeuseruseuserModeuserMode::rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::uuserMode:serMode:userModeuseruserMode:Mode::useruserModuserMode:e:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::ModuserModeuserMode::e::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rModuserMode:e:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userMuserMode:odeuseruserMode:Mode::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dqususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userModeuserMode::Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:userMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeuseruserMode:Mode::useruserModuserMode:euserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:useuserMode:rMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMoususerMode:erMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:MouserMode:deuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userModuserMode:e:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserModuserMode:e:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMouserMode:de:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:rususerMode:erMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::uuserMode:serMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserMode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quserMode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserMode:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMode:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruserMode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuserMode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuserMode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMode:userMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::useuserMode:rModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouseruserMode:Mode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rModeuserMode::Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useuserMode:ruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMouserMode:de:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuseruserMode:Mode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuserMode:uuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:useuserMode:rModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMode:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:serMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserMode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuserMode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususerMode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuserMode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuserMode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuserMode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuserMode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userMode::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuserMode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduserMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:ouserMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:userMode:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuseruserMode:Mode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuseruserMode:Mode:ode:uuserMode:serModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMuserMode:ode:e:Mode:erMuserModeuserMode::ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMuserMode:ouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMouserMode:de:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuseruserMode:Mode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:userMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeususerMode:erMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMode:userMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:ususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:ModuserMode:e:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:userMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euseuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMuserMode:ode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruseuserMode:rMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e:userMode::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode:userMode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMuserMode:ode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruseruserMode:Mode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::deuserMode::useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruseruserMode:MouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMode:de:useruserMuserMode:ode:ModeuuserMode:serModeuuserMode:serMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuuserMode:seuserMode:rMode:rMode::userMode:userMode:userModeuserMode::userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeusususerMode:eususerMode:euserMode:rMode:rMode:userMode:erMouseuserMode:rMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uususerMode:erMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserModeuserMode::euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euseruserMode:Mode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserModeuserMode::Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uususerMode:erModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuserMode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduserMode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuserMode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:Mode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserMode::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:ususerMode:euserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:duserMode:e:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:odeuserMode::rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::userMode:Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:ususerMode:eruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:ususerMode:erMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususerMode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserMode:odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMouserMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserMode:duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:Mode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	userMode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serMode::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de:::userMode:usususerMode:erMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:userMode:ode:rMuserMode:odususeruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:userMode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserMode:Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:ode:usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:usuuserMode:seuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uususerMode:erMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruserMode:userMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::Mode::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:userMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:ususerMode:erMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruseuserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMode:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuseruserMode:MouserMode:duserMode:e::userMode:uuserMode:serModuserMode:e:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:euserMode:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:userMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:seuserMode:rMode:ususerMode:erModuserModususerMode:erMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:userMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:userMode:rMode:userMode:userModuserMode:e:userMode:userModuserMode:e:userModeusuuserMode:serMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserModeuserMode::MouseuseruserMode:ModuserMode:e:rMode:deuseruseuserMuserMode:ode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususeuserMode:rModuserMode:e:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMuserMode:ouseruserMode:Mode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:userMode:ususerMode:eruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserMode:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouserMode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:de:erMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMouserMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:userMode:useruuserMode:serMouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserModuserMode:e:de:userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuserModeuserMode::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMode:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMuserMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], 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57userMouseuserMode:rMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:Mode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userMode:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMuserMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruserMode:Mode:serModeuserususerMode:erMode:Mode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:userMode::MouserMode:de:userMuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruuserMode:serMode:ModuseruserMode:Mode:euserMode::userMode:uuserMode:serModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:MouserMode:deuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:MuserMode:odeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:uuserMode:suserMode:userMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserModuserMode:e::useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMuserMode:odeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeususerMode:eruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMuserMode:ode:de:ModeuseruseuserModeuserMode::rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::uuserMode:serMode:userModeuseruserMode:Mode::useruserModuserMode:e:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::ModuserModeuserMode::e::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rModuserMode:e:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userMuserMode:odeuseruserMode:Mode::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userModeuserMode::Mode::useruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:userMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeususerMode:eruserMode:Mode::useruserModuserMode:euserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:useuserMode:rMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMoususerMode:erMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:MouserMode:deuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userModuserMode:e:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserModuserMode:e:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMouserMode:de:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:rususerMode:erMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::uuserMode:serMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:serMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModeuserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuserMode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeuserMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goaususerMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMode:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuseruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMode:userMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::useuserMode:rModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouseruserMode:Mode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rModeuserMode::Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useuserMode:ruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMouserMode:de:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuseruserMode:Mode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuserMode:uuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:useuserMode:rModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:ode:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuserMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserMode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuserMode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususerMode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuserMode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuserMode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuserMode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuserMode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMode:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuserMode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:userMode:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuseruserMode:Mode:ruserMode:userMode:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuseruserMode:Mode:ode:uuserMode:seruserMode:ModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMuserMode:ode:e:Mode:erMuserModeuserMode::ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMuserMode:ouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMouserMode:de:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuseruserMode:Mode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:userMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeususerMode:erMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMode:userMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:ususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:ModuserMode:e:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:userMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuseruserMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euserMode:useuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMuserMode:ode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruseuserMode:rMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e:userMode::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode:userMode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserMode:rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMuserMode:ode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruseruserMode:Mode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::deuserMode::useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:userMouserMode:duseruserMode:Mode:e:ususerMode:eruseruserMode:MouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMouserMode:de:de:useruserMuserMode:ode:ModeuuserMode:serModeuuserMode:serMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuuserMode:seuserMode:rMode:rMode::userMode:userMode:userModeuserMode::userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeusususerMode:eususerMode:euserMode:rMode:rMode:userMode:erMouseuserMode:rMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uususerMode:erMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserModeuserMode::euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euseruserMode:Mode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserModeuserMode::Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uususerMode:erModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuserMode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduserMode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:Mode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserMode:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserModeuserMode:::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:ususerMode:euserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:duserMode:e:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:odeuserMode::rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::userMode:Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:ususerMode:eruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:ususerMode:erMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserMode:suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususerMode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserMode:odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeuserMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserMode:duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMode:ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:Mode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	userMode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serMode::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususerMode:erMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:userMode:ode:rMuserMode:odususeruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserMode:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserMode:Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:userMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:odeuserMode::usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:usuuserMode:seuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uususerMode:erMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMode::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::Mode::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:userMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:ususerMode:erMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duserMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:userMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruseuserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserMode::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuseruserMode:MouserMode:duserMode:e::userMode:uuserMode:serModuserMode:e:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:userMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:euserMode:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:ususerMode:erMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:seuserMode:rMode:ususerMode:erModuserModususerMode:erMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:userMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:userMode:rMode:userMode:userModuserMode:e:userMode:userModuserMode:e:userModeusuuserMode:serMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserModeuserMode::MouseuseruserMode:ModuserMode:e:rMode:deuseruseuserMuserMode:ode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususeuserMode:rModuserMode:e:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMuserMode:ouseruserMode:Mode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserMode:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouserMode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:de:erMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMouserMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:userMode:useruuserMode:serMuserMode:ouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserModuserMode:e:de:userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuserModeuserMode::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMode:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMuserMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], 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57userMouseuserMode:rMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:Mode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:rMode:1], 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57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deuserMode:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:ususerMode:erMode::MouserMode:de:userMuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruuserMode:serMode:ModuseruserMode:Mode:euserMode::userMode:uuserMode:serModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:MouserMode:deuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:MuserMode:odeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:uuserMode:suserMode:userMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserModuserMode:e::useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMuserMode:odeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeususerMode:eruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMuserMode:ode:de:ModeuseruseuserModeuserMode::rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::uuserMode:serMode:userModeuseruserMode:Mode::useruserModuserMode:e:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMode:Mode::userMode:userModeuseruserModeuserMouserMode:de::ModuserModeuserMode::e::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rModuserMode:e:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuuserMode:seruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userMuserMode:odeuseruserMode:Mode::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserMode::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userModeuserMode::Mode::uuserMode:seruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:userMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeususerMode:eruserMode:Mode::useruserModuserMode:euserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:useuserMode:rMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMoususerMode:erMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:MouserMode:deuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userModuserMode:e:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserModuserMode:e:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMouserMode:de:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuseruserMode:Mode::useuuserMode:serMode:rususerMode:erMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::uuserMode:serMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuserMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMode:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuserMode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMouserMode:de:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuseruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMode:userMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::useuserMode:rModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouseruserMode:Mode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rModeuserMode::Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useuserMode:ruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMouserMode:de:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuseruserMode:Mode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuserMode:uuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:useuserMode:rModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserMode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuserMode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususerMode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuserMode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuserMode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuserMode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuserMode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userMode:e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuserMode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serModuserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:userMode:useruserMode:Mode:ususerMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuseruserMode:Mode:ruserMode:userModuserMode:e:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuseruserMode:Mode:ode:uuserMode:seruserMode:ModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMuserMode:ode:e:Mode:erMuserModeuserMode::ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMuserMode:ouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMouserMode:de:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuseruserMode:Mode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:userMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeususerMode:erMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMode:userMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:ususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:ModuserMode:e:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:userMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuserMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euserMode:useuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMuserMode:ode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruseuserMode:rMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e:userMode::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode:userMode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:Mode:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMuserMode:ode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruseruserMode:Mode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:de:Mode:useuserMode:rMoususerMode:erModeuserMode::deuserMode::useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:ususerMode:eruseruserMode:MouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMouserMode:de:de:useruserMuserMode:ode:ModeuuserMode:serModeuuserMode:serMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuuserMode:seuserMode:rMode:rMode::userMode:userMode:userModeuserMode::userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeusususerMode:eususerMode:euserMode:rMode:rMode:userMode:erMouseuserMode:rMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uususerMode:erMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserModeuserMode::euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euseruserMode:Mode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserModeuserMode::Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uususerMode:erModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuserMode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:Mode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:untuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserModuserMode:e:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserModeuserMode:::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:ususerMode:euserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:duserMode:e:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:odeuserMode::rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::userMode:Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:ususerMode:eruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:ususerMode:erMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuseruserMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserMode:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususerMode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMode::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserMode:odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserMode:duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserMode:Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMode:ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:Mode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	userMode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususerMode:erMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:userMode:ode:rMuserMode:odususeruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserMode:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserMode:Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uuserMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:useuserMode:rMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:odeuserMode::usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:usuuserMode:seuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uususerMode:erMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->userMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::Mode::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:userMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:ususerMode:erMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:ususerMode:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:userMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::useruseuserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuseruserMode:MouserMode:duserMode:e::userMode:uuserMode:serModuserMode:e:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:ususerMode:erMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:euserMode:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:ususerMode:erMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:seuserMode:rMode:ususerMode:erModuserModususerMode:erMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:userMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:userMode:rMode:userMode:userModuserMode:e:userMode:userModuserMode:e:userModeusuuserMode:serMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserModeuserMode::MouseuseruserMode:ModuserMode:e:rMode:deuseruseuserMuserMode:ode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususeuserMode:rModuserMode:e:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userMode:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMuserMode:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserMode:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouserMode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:de:erMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMouserMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:userMode:useruuserMode:serMuserMode:ouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserModuserMode:e:de:userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuserModeuserMode::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMode:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMuserMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserMode::serMode::serMode:userMouuserMode:suserMuserMode:oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuserMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuserMode:userMode:euuserModeuserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMode:ode:userModeuserMode::userModeuserMode::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserMode:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:oal[0], 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57userMouseuserMode:rMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:Mode:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:rMode:1], 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57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuserMode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMode:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:ususerMode:erMode::MouserMode:de:userMuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruuserMode:serMode:ModuseruserMode:Mode:euserMode::userMode:uuserMode:serModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:MouserMode:deuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:MuserMode:odeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:uuserMode:suserMode:userMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserModuserMode:e::useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMuserMode:odeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeususerMode:eruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serMode:eruserMouserMuserMode:ode:de:ModeuseruseuserModeuserMode::rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::uuserMode:serMode:userModeuseruserMode:Mode::useruserModuserMode:e:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userModeuseruserModeuserMouserMode:de::ModuserModeuserMode::e::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rModuserMode:e:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuuserMode:seruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userMuserMode:odeuseruserMode:Mode::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:eruseruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userModeuserMode::Mode::uuserMode:seruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:userMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeususerMode:eruserMode:Mode::useruserModuserMode:euserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:useuserMode:rMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMoususerMode:erMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:MouserMode:deuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userModuserMode:e:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserModuserMode:e:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMouserMode:de:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuserususerMode:erMode:Mode::useuuserMode:serMode:rususerMode:erMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::uuserMode:serMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:Mode::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:Mode:Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuserMode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::userModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserModeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rMode:Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useuserMode:ruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMouserMode:de:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuseruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMode:userMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::useuserMode:rModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouseruserMode:Mode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rModeuserMode::Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useuserMode:ruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMouserMode:de:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuseruserMode:Mode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuserMode:uuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:useuserMode:rModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:suserMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserMode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuserMode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususerMode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuserMode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuserMode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuserMode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuserMode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userModeuserMode::e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuserMode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouserMode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suserModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0ususeruserModeuserMode::Mode:erMode:userModuserModeuserMode::e:userMuserMode:odususerMode:euserMode:rMode:e:userMode:useruserMode:Mode:usususerMode:erMode:eruserususerMode:erMode:ModeuserMode::ModeuseruserMode:Mode::userMode:userMuserMode:ode:ususeuseruserMode:Mode:ruserMode:userModuserMode:e:ModeuserMode::erMode:userModuserMode:e:useruserMode:Mode:userModuseruserMode:Mode:e:userMode:userMuseruserMode:Mode:ode:uuserMode:seruserMode:ModeuseruserMode:Mode::useruseruseruserMode:Mode:MouserMode:de:MuuserMode:serMode:ode:ususeruserModuserMuserMode:ode:e:Mode:erMuserModeuserMode::ode:userModuserMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMode:uuserMode:serMode:uuserMode:seuserMouserMode:de:rModeuserMuserMode:ouuserModeuserMode::serModeuseruseruserMode:Mode:Mode::de::userMode:ususeruserMode:ModuserMode:e:userMode:eruserMode:ModususerMode:erMouserMode:de:e:userModuseuserMode:rModuserMode:e:e:userMode:userMode:uuserMode:serMouserMode:de:useuuserMode:serMode:rMuserMode:ode:userModeuuseruserMode:Mode:seruserMode:Mode:userMode::ususeruseususerMode:erMuserMode:ode:ruserMode:Mode:Mode:erMode:userMode:useruseuserMode:userMode:rMode:userMode:MouseuserMode:rMode:de:useruserMode:Mode:uuserMode:serMode:useususerMode:erMode:rMuserMode:ode:userMode:userModeususerMode:eruserModeususerMode:erMode::Mode:uuserMode:userMode:seuseruserMode:Mode:rMode::userMode:userususerMode:erMode:ModuserMode:userModuserMode:e:e:userMode:useruserMode:userMouserMode:de:MuseruserMode:MuserMode:ode:ode:useuserMode:rMode:userMode:ususerMode:erMode:userModeuseruserMode:Mode::ususeruserModuserMode:ususerModeuserMode::erMode:e:ModuserMode:e:erModeuserMode::userModuserMode:useuserMode:rMode:e:userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:useuserModeuserMode::ruserMuserMode:userMode:ode:userMode::userMode:userMode:puserMode:riuseruserMode:Mode:nteuseruseruserMode:ModuserMode:e:Mode:r.cpp:	userModeuserModeuserMode:::		// rtususerMode:erMode:->time userMode:is tuuserMode:serMode:teuseuserMode:rMode:ruuserMode:userMode:serMouserMouserMode:de:de:.cpp:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euserMode:useuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMuserMode:ode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruseuserMode:rMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e:userMode::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode:userMode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:de:de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:ModuserMode:e:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMuserMode:ode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:userMode:uusususerMode:erMode:erMode:serMode:useruseruserMode:Mode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:deuserMode::Mode:useuserMode:rMoususerMode:erModeuserMode::deuserMode::useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:ususerMode:eruseruserMode:MouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMouserMode:de:de:useruserMuserMode:ode:ModeuuserMode:serModeuuserMode:serMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuuserMode:seuserMode:rMode:rMode::userMode:userMode:userModeuserMode::userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeusususerMode:eususerMode:euserMode:rMode:rMode:userMode:erMouseuserMode:rMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uususerMode:erMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserModeuserMode::euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euseruserMode:Mode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserModeuserMode::Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uususerMode:erModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuserMode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:Mode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeuserMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserModuserMode:e:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserModeuserMode:::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:ususerMode:euserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:duserMode:e:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:odeuserMode::rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::userMode:Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:ususerMode:eruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:ususerMode:erMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuserususerMode:erMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususerMode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuserMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserMode:odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserMode:duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMode:ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:Mode:useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususerMode:erMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:userMode:ode:rMuserMode:odususeruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuserModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserMode:Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uususerMode:erMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:useuserMode:rMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:odeuserMode::usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:usuuserMode:seuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uususerMode:erMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::Mode::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:userMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:ususerMode:erMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:ModeuserMode::rt->useruseuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMode:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:userMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMode:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerMode:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuseruserMode:MouserMode:duserMode:e::userMode:uuserMode:serModuserMode:e:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:ususerMode:erMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:euserMode:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:ususerMode:erMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:seuserMode:rMode:ususerMode:erModuserModususerMode:erMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:userMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:userMode:rMode:userMode:userModuserMode:e:userMode:userModuserMode:e:userModeusuuserMode:serMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserModeuserMode::MouseuseruserMode:ModuserMode:e:rMode:deuseruseuserMuserMode:ode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususeuserMode:rModuserMode:e:erMode:Mode:e:useruserMode:Mode:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userMouserMode:de:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMuserMode:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserMode:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouserMode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:de:erMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouserMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:userMode:useruuserMode:serMuserMode:ouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserModuserMode:e:de:userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuserModeuserMode::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMode:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMuserMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], 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57userMouseuserMode:rMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserModeuserMode::de::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMuserMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruserMode:Mode:serModeuserususerMode:erMode:Mode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMode:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:ususerMode:erMode::MouserMode:de:userMuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruuserMode:serMode:ModuseruserMode:Mode:euserMode::userMode:uuserMode:serModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:MouserMode:deuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:MuserMode:odeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:uuserMode:suserMode:userMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserModuserMode:e::useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::userMode:userMuserMode:odeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeususerMode:eruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serModuserMode:e:eruserMouserMuserMode:ode:de:ModeuseruseuserModeuserMode::rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::uuserMode:serMode:userModeuseruserMode:Mode::useruserModuserMode:e:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userModeuseruserModeuserMouserMode:de::ModuserModeuserMode::e::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rModuserMode:e:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuuserMode:seruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userMuserMode:odeuseruserMode:Mode::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1], userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userModeuserMode::Mode::uuserMode:seruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:userMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeususerMode:eruserMode:Mode::useruserModuserMode:euserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:useuserMode:rMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMoususerMode:erMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:MouserMode:deuseruserMode:MouserMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userModuserMode:e:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMouserMode:duserMode:e:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMouserMode:de:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuserususerMode:erMode:Mode::useuuserMode:serMode:rususerMode:erMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::uuserMode:serMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMode:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserMode::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			useuserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userMode:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:ususerMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserMode:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuserModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:userMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rModeuserMode::Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useuserMode:ruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMouserMode:de:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuseruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMode:userMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::useuserMode:rModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouseruserMode:Mode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rModeuserMode::Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useuserMode:ruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMouserMode:de:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuseruserMode:Mode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuserMode:uuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:useuserMode:rModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuseuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:userMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserMode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuserMode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususerMode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuserMode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuserMode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuserMode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userModeuserMode::e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuserMode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruserMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruserMode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMode:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euserMode:useuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMuserMode:ode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruseuserMode:rMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e:userMode::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode:userMode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:userMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:deuserMode::de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:ModuserMode:e:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_userMode:userMode:userMode:useuuserMode:serMuserMode:ode:rMoususerMode:eruserModeuserMode::ModuserMode:e:de:useruuserMode:seruserModeuserMode::Mode:Mode:useuserMode:rMode:uusususerMode:erMode:erMode:serMode:useruseruserMode:Mode:ModuseruserMode:useruserMode:Mode:Mode:e:userMode:userMode:userMode:userMode:useruserMouserMode:deuserMode::Mode:useuserMode:rMoususerMode:erModeuserMode::deuserMode::useruserMode:uuserMode:seruserMode:MuserModuserMode:e:ode:Mode:uuserMode:seuserMode:rMode:userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:ususerMode:eruseruserMode:MouserMode:de:userMode:Mode:userMode:userModeuserMode::userMuserMode:ode:useuserMode:rMuserMode:ouserMouserMode:de:de:useruserMuserMode:ode:ModeuuserMode:serModeuuserMode:serMode:::uuserMode:seruserMode:MouserMode:de:useuserMode:ruserMode:ModuseuserMode:ruserMode:Mode:euseuuserMode:seuserMode:rMode:rMode::userMode:userMode:userModeuserMode::userMode:useususerMode:erMouserMode:de:ruserMode:MouserMode:de:userMode:useruserMode:Mode:userModeusususerMode:eususerMode:euserMode:rMode:rMode:userMode:erMouseuserMode:rMode:de:useruserMode:Mode::userModuseruserMode:Mode:e:usususerMode:erMode:erMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:useuserMode:rMouseuserModeuserMode::rMode:de:useruserMode:MouserMode:de:useruuserMode:serususerMode:erMode:Mode:userMode:ModuserMode:e:uususerMode:erMode:serModeuseruserMouserMode:de:ModeuseruserMode:Mode::userMode::userMode:ususerMode:erMode:userMuserMode:ode:userMode:useuserMouserMode:de:rMouserModuserModeuserMode::euserMode::userMode:deususerMode:erMode::userMode:useruserMode:useruserMode:MuserMode:ode:Mode:uuserMouserMode:de:serMode:userModuseruuserMode:serMode:Mode:euseruserMode:Mode::useruserMode:MuserMouserMode:de:ode:userMode:userMuserMode:ode:userModeuserMode:userMode::uuserMode:seuseuserMode:rMouserMode:de:rMouserMode:de:useruserModeuserMode::Mode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:ModuseruserMode:MuserMuserMode:ode:ode:e:ter.cuserMode:pp:userMouserMode:de:useuserMode:rMode:	uususerMode:erModeuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruserMode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:Mode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.userMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserModuserMode:e:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserModeuserMode:::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:ususerMode:euserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:duserMode:e:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:odeuserMode::rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::userMode:Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:ususerMode:eruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:ususerMode:erMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMode:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMode:userMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuserususerMode:erMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:Mode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususerMode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerMode:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserMode:odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserMode:duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useususerMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3userMode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMode:ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususerMode:erMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:userMode:ode:rMuserMode:odususeruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:userMode:userMouserMuserMode:ode:deuserMoususerMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModususerMode:erModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserMode:Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMode:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uususerMode:erMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:useuserMode:rMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:odeuserMode::usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:usuuserMode:seuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uususerMode:erMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseuserMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:userMode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::Mode::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:userMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euserMode:rMuserMode:ode:ususerMode:erMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruseuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMode:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:userMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ode:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMouserMode:de:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuserMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuseruserMode:MouserMode:duserMode:e::userMode:uuserMode:serModuserMode:e:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:ususerMode:erMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:euserMode:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:ususerMode:erMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:seuserMode:rMode:ususerMode:erModuserModususerMode:erMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:userMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:userMode:rMode:userMode:userModuserMode:e:userMode:userModuserMode:e:userModeusuuserMode:serMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserModeuserMode::MouseuseruserMode:ModuserMode:e:rMode:deuseruseuserMuserMode:ode:rMode:Mode::userMode:userMuserModuserMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususeuserMode:rModuserMode:e:erMode:Mode:e:useruserMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userMouserMode:de:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMuserMode:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserMode:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouserMode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserMode:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouserMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:userMode:useruuserMode:serMuserMode:ouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserModuserMode:e:de:userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuserModeuserMode::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMode:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserMode::serMode::serMode:userMouuserMode:suserMuserModeuserMode::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuserMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuserMode:userMode:euuserModeuserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMode:ode:userModeuserMode::userModeuserMode::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserMode:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMode:oduseususerMuserMode:ode:erMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:serMode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserMode:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:userModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuususerMode:erMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::userMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserModeuserMode::ModeuserMode::useuuserMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuserMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuserMuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:useruserMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:euserMode:::userMode:useruserModeuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMode:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserMode:rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMode:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMuserMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:Mode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMode:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:ususerMode:erMode::MouserMode:de:userMuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruuserMode:serMode:ModuseruserMode:Mode:euserMode::userMode:uuserMode:serModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:MouserMode:deuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuserMode::uuserMode:seuserMode:ruserMode:MuserMode:odeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:uuserMode:suserMode:userMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserModuserMode:e::useuserMode:ruserMuserMode:ode:ModeuseruseruserMode:Mode:Mode::userMode:userMuserMode:odeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeususerMode:eruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serModuserMode:e:eruserMouserMuserMode:ode:de:ModeuseruseuserModeuserMode::rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::uuserMode:serMode:userModeuseruserMode:Mode::useruserModuserMode:e:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userModeuseruserModeuserMouserMode:de::ModuserModeuserMode::e::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rModuserMode:e:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuuserMode:seruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userMuserMode:odeuseruserMode:Mode::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userModeuserMode::Mode::uuserMode:seruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:userMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeususerMode:eruserMode:Mode::useruserModuserMode:euserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:useuserMode:rMode::ModeususerMode:erModuserMode:e::useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMoususerMode:erMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:MouserMode:deuseruserMode:MouserMode:userMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userModuserMode:e:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMouserMode:duserMode:e:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMouserMode:de:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuserususerMode:erMode:Mode::useuuserMode:serMode:rususerMode:erMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::uuserMode:serMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruserMode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruserMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruserMode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususerMode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::euserMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuserMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:useuserMode:rMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rModeuserMode::Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useuserMode:ruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMouserMode:de:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuseruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMode:userMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::useuserMode:rModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouseruserMode:Mode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rModeuserMode::Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useuserMode:ruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMouserMode:de:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuseruserMode:Mode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuserMode:uuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:useuserMode:rModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:ode:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuseuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserMode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuserMode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususerMode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuserMode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuserMode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userModeuserMode::e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuserMode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserMode:serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruseuserMode:rMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruserMode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:userMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euserMode:useuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMuserMode:ode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruseuserMode:rMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e:userMode::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode:userMode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:userMuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:useuserMode:rMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:deuserMode::de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:ModuserMode:e:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruserMode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:Mode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erMode::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserModuserMode:e:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserModeuserMode:::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:ususerMode:euserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:duserMode:e:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:odeuserMode::rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::userMode:Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:ususerMode:eruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:ususerMode:erMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMouserMode:de:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMode:userMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuserususerMode:erMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:userMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususerMode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserMode:odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserMode:duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMode:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3userMode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMode:ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususerMuserMode:ode:erMode:de:userMuseruserMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususerMode:erMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:userMode:ode:rMuserMode:odususeruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuserMoususerMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModususerMode:erModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserMode:Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uususerMode:erMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:useuserMode:rMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:odeuserMode::usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:usuuserMode:seuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uususerMode:erMode:serMode:useruserMouserMode:de:ModeuserMode::useuuserMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseususerMode:erMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:userMode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::Mode::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuseruuserMode:userMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruseuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMode:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:userMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMouserMode:de:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuseruserMode:MouserMode:duserMode:e::userMode:uuserMode:serModuserMode:e:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:ususerMode:erMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:euserMode:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:ususerMode:erMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:seuserMode:rMode:ususerMode:erModuserModususerMode:erMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:userMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:userMode:rMode:userMode:userModuserMode:e:userMode:userModuserMode:e:userModeusuuserMode:serMode:userMode:erMode::userMode:ususerMode:erMode:userMode:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserModeuserMode::MouseuseruserMode:ModuserMode:e:rMode:deuseruseuserMuserMode:ode:rMode:Mode::userMode:userMuserModuseuserMode:rMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususeuserMode:rModuserMode:e:erMode:Mode:e:useruserMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userMouserMode:de:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMuserMode:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserMode:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouserMode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouserMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:userMode:useruuserMode:serMuserMode:ouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserModuserMode:e:de:userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuserModeuserMode::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouserMode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserMode::serMode::serMode:userMouuserMode:suserMuserModeuserMode::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuserMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuserMode:userMode:euuserModeuserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMode:ode:userModeuserMode::userModeuserMode::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMode:oduseususerMuserMode:ode:erMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:serMode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserMode:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:userModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuususerMode:erMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserModeuserMode::ModeuserMode::useuuserMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuserMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuserMuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:useruserMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:euserMode:::userMode:useruserModeuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMode:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserMode:rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouserMode:de:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:euserMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:Mode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMode:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:ususerMode:erMode::MouserMode:de:userMuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:userMode:userMode::useruuserMode:serMode:ModuseruserMode:Mode:euserMode::userMode:uuserMode:serModeuserMode::useuserMode:ruserModeuserMode::userMode:ModeuseruserMode:Mode::userMode:useuserMode:rModeuseuserMode:rMode::useuserMode:ruserMuserMode:ode:MouserMode:deuseruseruserMode:Mode:Mode::userMode:useuseuserMode:rMode:rMuserMode:odeuuserMode:serMode::uuserMode:seuserMode:ruserMode:MuserMode:odeuseruserMode:Mode::userMode:useuserMode:rModeuserMode::userMode:uuserMode:suserMode:userMode:euuserMode:suseuserMode:rMode:erModuserMode:e:ruseuserModeuserMode::rMode:ModeuseruserMode:userMode:userMode:Mode::userMode:useuseruuserMode:serMode:Mode:rModeuserModuserMode:e::useuserMode:ruserMuserMode:ode:ModeuseruseruserMode:Mode:Mode::userMode:userMuserMode:odeuseruuserMode:serMode:Mode::useruserMode:ModeuseruserMode:Mode::userMode:ususerMode:erModeususerMode:eruserMode:Mode::userMode:ususerMode:eruserMode:ModeuseruserMode:Mode::userMouserMode:de:userMuserMode:odeuseruserMuserMode:ouseruserMode:Mode:duserMode:e:MouserMode:de::usuuserMode:serModuserMode:e:eruserMouserMuserMode:ode:de:ModeuseruseuserModeuserMode::rMode:Mode::userModuserMode:e:userModuserMode:euseruserMode:userMode:Mode::useruserMode:ModeuseruserMode:ModeuserMode::userMode::uuserMode:serMode:userModeuseruserMode:Mode::useruserModuserMode:e:ModeuseruserMode:Mode::userMode:userModeuseruserMode:MuserMode:ode::useruserMode:ModeuseruserMouserMode:de:Mode::userMode:userModeuseruserModeuserMouserMode:de::ModuserModeuserMode::e::useruserModeuserMode::userMode:ModeuuserMode:userMode:serususerMode:erMode:Mode::userMode:userModuserMode:euseruseuseruserMode:MuserMode:ode:userMode:rModuserMode:e:MouserMode:de::useruserMouserMode:de:ModuserMode:euseuserMode:ruserMode:Mode::userMode:useuserMode:rModeuuserMode:seruserMode:Mode::useruserMode:ModeuseruseruserMode:Mode:Mode::userModeuserMode::userMuserMode:odeuseruserMode:Mode::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuseruserMuseruserMode:Mode:ode:Mode::useruserMode:userMode:userMode::priuseruseruserMode:MouserMode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userModeuserMode::Mode::uuserMode:seruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:userMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeususerMode:eruserMode:Mode::useruserModuserMode:euserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:useuserMode:rMode::ModeususerMode:erModuserMode:e::useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMoususerMode:erMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:MouserMode:deuseruserMode:MouserMode:userMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userModuserMode:e:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMouserMode:duserMode:e:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMouserMode:de:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuserususerMode:erMode:Mode::useuuserMode:serMode:rususerMode:erMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::uuserMode:serMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruserMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMode:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuserMode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruserMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMode:ModeuseruserMode:Mode::ususerMode:erMode:userususeruserMode:Mode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserModeuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuserMode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMuserMode:ode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:useuserMode:rMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rModeuserMode::Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useuserMode:ruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMouserMode:de:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuseruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMode:userMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::useuserMode:rModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouseruserMode:Mode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rModeuserMode::Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useuserMode:ruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMouserMode:de:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuseruserMode:Mode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuserMode:uuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:useuserMode:rModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserMode:Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuserMode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserMode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuserMode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususerMode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuserMode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userModeuserMode::e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuserMode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::ususerMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserModeuserMode::serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruseuserMode:rMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruserMode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntimeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMode:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euserMode:useuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMuserMode:ode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruseuserMode:rMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e:userMode::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode:userMode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:useruserMode:MuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:useuserMode:rMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:deuserMode::de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:ModuserMode:e:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruserMode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:Mode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:useruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserModuserMode:e:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserModeuserMode:::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:ususerMode:euserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:duserMode:e:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:odeuserMode::rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::userMode:Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:ususerMode:eruserMode:userMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:ususeruserMode:Mode:erMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMouserMode:de:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMode:userMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuserususerMode:erMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserMode:Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserMode:odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruserMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserMode:duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3userMode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMode:ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserMode:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususerMuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususerMode:erMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:userMode:ode:rMuserMode:odususeruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:userMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuserMoususerMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModususerMode:erModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruserMode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uususerMode:erMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:useuserMode:rMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:odeuserMode::usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:usuuserMode:seuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruserMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:ode:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uususerMode:erMode:serMode:useruserMouserMode:de:ModeuserMode::useuuseuserMode:rMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseususerMode:erMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:userMode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:useruserMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::Mode::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:userMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruseuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMode:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:userMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMouserMode:de:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuseruserMode:MouserMode:duserMode:e::userMode:uuserMode:serModuserMode:e:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:ususerMode:erMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:euserMode:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:ususerMode:erMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:seuserMode:rMode:ususerMode:erModuserModususerMode:erMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:userMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuserMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:userMode:rMode:userMode:userModuserMode:e:userMode:userModuserMode:e:userModeusuuserMode:serMode:userMode:erMode::userMode:ususerMode:erMode:userMouserMode:de:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserModeuserMode::MouseuseruserMode:ModuserMode:e:rMode:deuseruseuserMuserMode:ode:rMode:Mode::userMode:userMuserModuseuserMode:rMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususeuserMode:rModuserMode:e:erMode:Mode:e:useruserMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userMouserMode:de:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMuserMode:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserMode:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouserMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:userMode:useruuserMode:serMuserMode:ouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:MouserModuserMode:e:de:userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserMode::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouserMode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserMode::serMode::serMode:userMouuserMode:suserMuserModeuserMode::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuserMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuserMode:userMode:euuserModeuserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMode:ode:userModeuserMode::userModeuserModeuserMode:::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMode:oduseususerMuserMode:ode:erMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:serMode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserMode:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuususerMode:erMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserModeuserMode::ModeuserMode::useuuserMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuserMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuserMuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:useruserMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:euserMode:::userMode:useruserModeuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMode:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouserMode:de:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:rMode:1], 57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:Mode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMode:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserMode:e:ususerMode:erMode::MouserMode:de:userMuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:uuserMode:Mode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserMode:Mode::MouserModeuserMode::deuserMode::>fouserMode:rce[0]userModeuseruserMode:userModeuserMode::Mode::uuserMode:seruserModeuserModuserMode:e::ModeuserMode::useuserModeuseuserMode:rMode::rMode:userModeuseruserMuserMode:ode:Mode::useruserModeuseuserMode:userMode:rMode::ModuserMode:euserMode::useuserMode:rModeuserMode::useruserModeuserMode::MuserMode:odeuseruserMode:Mode::useruserMode:userModeuserMode::ModeuuserModuserMode:e:seuserMode:rMode::useuserModuserMode:e:rMode:userModeususerMode:eruserMode:Mode::useruserModuserMode:euserMode::ModeuserMouserMode:de::userModuserMode:e:useuserMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode:useuserMode:rMode::ModeususerMode:erModuserMode:e::useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode:userMode::useuserMode:useuserMode:rMode:ruserMode:MuseuserMode:rMode:oduseuserMode:rMode:e:ususerMode:erModeuseruserMode:Mode::useruserMode:ModeuseruserMoususerMode:erMode:de:Mode::userModuserMode:e:userModeuseuserMode:ruuserMode:serMode:Mode::useruserMode:MouserMode:deuseruserMode:MouserMode:userMode:de::userMode:userModeuseruserModuserMode:e:ModeuserMode:::useruserMode:ModeuseruserMode:Mode::userMode:userMode:userModeususerMode:eruserMode:userModuserMode:e:Mode::useruserModeuserMode::ModeuserMode:useruserMode:ModeuserMode:::userMode:userModeuseruuserMode:serMode:ModuserMuserMode:ode:e::userususerMode:erMode:ModeuseruserMode:Mode::userMode:userModeuserMouserMode:duserMode:e:useruserMouserMode:de:Mode::useruserMode:MuserMode:odeuseruserModeuserMode::Mode::userMode:ususerMode:erModeuseruserMode:MouserMode:de::useruserMouserMode:de:userMode:ModeuseruserMode:ModeuserMode:::userMode:userModeuseruseruserMode:Mode:Mode::useruserModeuserMode::ModeuseruseruserMode:Mode:Mode:userMode::uuserMode:suserMode:erMode:uuserMode:serModeuserususerMode:erMode:Mode::useuuserMode:serMode:rususerMode:erMode:ModeuuserMode:seruserMode:Mode::userMode:userModeuseruseuserMode:rMode:Mode::useruserMode:ModeuseruserMouserMode:de:Mode::uuserMode:serMode:userMouserMode:deuseruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:Mode::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuserMode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::ususerMode:euserMode:rMode:userususerMode:euserMode:rMouserMode:de:ModeuseruserMode:Mode::ususerMode:erMode:userususeruserMode:Mode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuserMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserMode:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::userModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuseruserMode:Mode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMuserMode:ode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:useuserMode:rMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rModeuserMode::Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useuserMode:ruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMouserMode:de:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuseruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMode:userMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::useuserMode:rModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouseruserMode:Mode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rModeuserMode::Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useuserMode:ruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMouserMode:de:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuseruserMode:Mode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuserMode:uuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:useuserMode:rModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MuserMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserMode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuserMode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususerMode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuserMode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userModeuserMode::e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuserMode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:useruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::uuserMode:suserMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserModeuserMode::serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruseuserMode:rMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruserMode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserMode:de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerMode:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euserMode:useuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMuserMode:ode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruseuserMode:rMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e:userMode::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode:userMode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususerMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:userMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:useruserMode:MuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:useuserMode:rMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:deuserMode::de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:ModuserMode:e:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserMode::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruserMode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:Mode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuserMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserModuserMode:e:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserModeuserMode:::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:ususerMode:euserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:duserMode:e:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:odeuserMode::rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::userMode:Mode:e:userModeuserModeuserModuseuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:ususerMode:eruserMode:ususerMode:erMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:ususeruserMode:Mode:erMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMouserMode:de:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMode:userMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuserususerMode:erMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userMode:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 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rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruserModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruseruserMode:Mode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], 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rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMode:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:userMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erModeuserMode::uuserMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMouserMode:de:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMode:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuseruserMode:MouserMode:duserMode:e::userMode:uuserMode:serModuserMode:e:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:ususerMode:erMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:euserMode:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:ususerMode:erMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMode:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:seuserMode:rMode:ususerMode:erModuserModususerMode:erMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:userMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuuserMode:serMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:userMode:rMode:userMode:userModuserMode:e:userMode:userModuserMode:e:userModeusuuserMode:serMode:userMode:erMode::userMode:ususerMode:erMode:userMouserMode:de:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserModeuserMode::MouseuseruserMode:ModuserMode:e:rMode:deuseruseuserMuserMode:ode:rMode:Mode::userMode:userMuserModuseuserMode:rMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususeuserMode:rModuserMode:e:erMode:Mode:e:useruserMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userMouserMode:de:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMuserMode:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserMode:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouserMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:userMode:useruuserMode:serMuserMode:ouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:de:userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserMode::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouserMode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserMode::serMode::serMode:userMouuserMode:suserMuserModeuserMode::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userMode::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuserMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuserMode:userMode:euuserModuserMode:euserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMode:ode:userModeuserMode::userModeuserModeuserMode:::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMode:oduseususerMuserMode:ode:erMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:serMode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuususerMode:erMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserModeuserMode::ModeuserMode::useuuserMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuserMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuserMuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:useruserMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:euserMode:::userMode:useruserModeuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouserMode:de:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserMode:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:Mode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMode:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:userMuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:uuserMode:Mode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMode:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruserMode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::useruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuserMode:e:userususerMode:erModeuserMode::ModeuserMode::uuserMode:suserMode:euserMode:rMode:userususerMode:euserMode:rMouserMode:de:ModeuseruserMode:Mode::ususerMode:erMode:userususeruserMode:Mode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModuserMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruserMode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuseuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::useuserMode:rModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuseruserMode:Mode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMuserMode:ode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:useuserMode:rMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rModeuserMode::Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useuserMode:ruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMouserMode:de:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuseruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMode:userMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::useuserMode:rModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouseruserMode:Mode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rModeuserMode::Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useuserMode:ruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMouserMode:de:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuseruserMode:Mode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuserMode:uuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:useuserMode:rModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuserModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserModuserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserMode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuserMode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususerMode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userModeuserMode::e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuserMode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduserMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:uuserMode:seruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::uuserMode:suserMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserModeuserMode::serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruseuserMode:rMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruserMode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euserMode:useuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMuserMode:ode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruseuserMode:rMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e:userMode::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode:userMode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususeuserMode:rMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:userMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:useruserMode:MuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:useuserMode:rMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:deuserMode::de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:ModuserMode:e:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususerModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruserMode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:Mode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:erMode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserModuserMode:e:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserModeuserMode:::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:ususerMode:euserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:duserMode:e:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:odeuserMode::rMouserMode:userMouserMode:de:de:ususerMode:erMode:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::userMode:Mode:e:userModeuserModeuserModuuserMode:seuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:ususerMode:eruserMode:ususerMode:erMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:ususeruserMode:Mode:erMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMouserMode:de:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMode:userMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuserususerMode:erMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userModeuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserMode:odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:userMode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserMode:duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3userMode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMode:ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:Mode:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:userMode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususerMuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususerMode:erMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:userMode:ode:rMuserMode:odususeruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuserMoususerMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModususerMode:erModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userModeuserMode::ModeuserMode::Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseruserMode:ModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruseruserMode:Mode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uususerMode:erMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:useuserMode:rMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:odeuserMode::usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuserMode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:usuuserMode:seuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:oduserMode:e:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uususerMode:erMode:serMode:useruserMouserMode:de:ModeuserMode::useuuseuserMode:rMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseususerMode:erMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:userMode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userModeuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:userMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruseuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMode:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:ode:userMode:useuserMode:userMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMouserMode:de:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouserMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuseruserMode:MouserMode:duserMode:e::userMode:uuserMode:serModuserMode:e:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:ususerMode:erMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:deuserMode::userMode:userMode:ususerMode:euserMode:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:ususerMode:erMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMouserMode:de:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:seuserMode:rMode:ususerMode:erModuserModususerMode:erMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:userMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuuserMode:serMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:userMode:rMode:userMode:userModuserMode:e:userMode:userModuserMode:e:userModeusuuserMode:serMode:userMode:erMode::userMode:ususerMode:erMode:userMouserMode:de:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserModeuserMode::MouseuseruserMode:ModuserMode:e:rMode:deuseruseuserMuserMode:ode:rMode:Mode::userMode:userMuserModuseuserMode:rMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususeuserMode:rModuserMode:e:erMode:Mode:e:useruserMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userMouserMode:de:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMuserMode:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuserMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouserMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:de:userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserMode::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouserMode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserMode::serMode::serMode:userMouuserMode:suserMuserModeuserMode::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModeuserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userModuserMode:e::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuserMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuserMode:userMode:euuserModuserMode:euserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMode:ode:userModeuserMode::userModeuserModeuserMode:::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMode:oduseususerMuserMode:ode:erMode:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuususerMode:erMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserModeuserMode::ModeuserMode::useuuserMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuserMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuserMuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:euserMode:::userMode:useruserModeuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouserMode:de:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMode:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:Mode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMode:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:userMuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:uuserMode:Mode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMouserMode:de:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuseruserMode:ModeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModeuseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuserMode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuserMode:rMode::ModeuserMode::ususerMode:euserMode:rModuseuserMode:rMode:e:userususerMode:erModeuserMode::ModeuserMode::uuserMode:suserMode:euserMode:rMode:userususerMode:euserMode:rMouserMode:de:ModeuseruserMode:Mode::ususerMode:erMode:userususeruserMode:Mode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouserMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruseruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::userMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:useuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::useuserMode:rModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuseruserMode:Mode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMuserMode:ode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:useuserMode:rMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rModeuserMode::Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useuserMode:ruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMouserMode:de:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuseruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMode:userMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::useuserMode:rModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouseruserMode:Mode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rModeuserMode::Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useuserMode:ruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMouserMode:de:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuseruserMode:Mode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuserMode:uuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:useuserMode:rModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuserMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserMode:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserMode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuserMode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:Mode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userModeuserMode::e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuserMode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:useuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduseuserMode:rMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:uuserMode:seruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::uuserMode:suserMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserModeuserMode::serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruseuserMode:rMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruserMode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserMode:MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euserMode:useuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMuserMode:ode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruseuserMode:rMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e:userMode::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode:userMode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:userMode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususeuserMode:rMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:userMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:useruserMode:MuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:useuserMode:rMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:deuserMode::de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:ModuserMode:e:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuserMode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruserMode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:Mode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserModuserMode:e:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserModeuserMode:::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:ususerMode:euserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:duserMode:e:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMode:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:odeuserMode::rMouserMode:userMouserMode:de:de:ususerMode:erMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::userMode:Mode:e:userModeuserModeuserModuuserMode:seuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:ususerMode:eruserMode:ususerMode:erMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:ususeruserMode:Mode:erMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMouserMode:de:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMode:userMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuserususerMode:erMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:Mode:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserMode:odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useuserModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserMode:duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3userMode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMode:ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuserMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:userMode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususerMuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususerMode:erMode:erMuseruuserMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuserMoususerMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModususerMode:erModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userMode:userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuserMode::Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseruserMode:ModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruseruserMode:Mode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uususerMode:erMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:useuserMode:rMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:odeuserMode::usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuseruserMode:Mode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:usuuserMode:seuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:oduserMode:e:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uususerMode:erMode:serMode:useruserMouserMode:de:ModeuserMode::useuuseuserMode:rMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseususerMode:erMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:userMode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erMode::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:userMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruseuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMode:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMode:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMode:useuserMode:userMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMouserMode:de:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouserMode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userModeuseruserMode:MouserMode:duserMode:e::userMode:uuserMode:serModuserMode:e:useruserMode:Mode:ususerMuserMode:ode:erMode:ususerMode:erMuserMode:ode:ususerMode:erMouserMode:de:userModuserMode:e:uuserMode:serMouseuseruserMode:userMode:ModeuuserMode:serMode:userMode::rMode:userMode:deuserMode::userMode:userMode:ususerMode:euserMode:ruuserMode:serModeuserMode::Mode:userModuserMode:e:userModuserMuserMode:oduserMode:e:e:userMode:useuserMode:rMode:ususerMode:erMouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userModuserMode:e:userMouserMode:de:uuserMode:seruserMode:useruserMode:ModuserMode:e:Mode:userMode:uuserMode:seuserMode:rMode:ususerMode:erModuserModususerMode:erMode:e:e:userMode:userMouserMode:de:userMode:userMoususeuserMode:userMode:rMode:euseruserMode:Mode:rModeuserMode::deuserMode::userMode:userMuuserMode:serMode:ode:useuserMode:userMode:ruserMode:MouserMode:de:userMode:userModuserMouseruserMode:Mode:de:e:userMode:useuserMode:userMode:rMode:userMode:userModuserMode:e:userMode:userModuserMode:e:userModeusuuserMode:serMode:userMode:erMode::userMode:ususerMode:erMode:userMouserMode:de:uuseuserMode:rMouserMode:de:serMode:userMode:ususerMode:useuserMode:rMode:erMuserMode:ode:userMode:userMouserMode:de:userModeuserMode:userMode::useruserModeuserMode::MouseuseruserMode:ModuserMode:e:rMode:deuseruseuserMuserMode:ode:rMode:Mode::userMode:userMuserModuseuserMode:rMouserMode:de:e:ode:useruserMode:Mode:userMode:userModuseuserMode:rMode:e:userModuserMode:e:useuserMode:rMode:userMode:userMode:ususerMode:erModeususerMode:erMode::userMuserMode:ode:userModeuserMode::useuserMode:rModuserususeuserMode:rModuserMode:e:erMode:Mode:e:useruserMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:erMuserMode:ode:userMode:userMouserMode:userMode:deuuserMode:serMode::userMode:useuserMode:rMouseuseruserMode:Mode:rMode:deususerMode:erMode::userMode:useuserMode:rMuserMode:ode:useruseuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userMouserMode:de:userModuserMouserMode:de:e:userMuserMode:ode:ususerMode:euserMode:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMuserMode:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouserMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:de:userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserMode::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouserMode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserMode::serMode::serMode:userMouuserMode:suserMuserModeuserMode::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModuserMode:euserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userModuserMode:e::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuserMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuserMode:userMode:euuserModuserMode:euserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMode:ode:userModeuserMode::userModeuserModeuserMode:::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMode:oduseususerMuserMode:ode:erMouserMode:de:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuususerMode:erMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserModeuserMode::ModeuserMode::useuuserMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::useruserMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuserMuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:euserMode:::userMode:useruserModeuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouserMode:de:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:e::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:Mode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:userMuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:uuserMode:Mode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:userMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMode::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMouserMode:de:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMode:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuseruserMode:MuserMode:odeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userMode:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:ususerMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:userMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::ususerMode:euseruserMode:Mode:rMode:useruserModeuseuseruserMode:Mode:rMode::ModeuserMode::ususerMode:euserMode:rModuseuserMode:rMode:e:userususerMode:erModeuserMode::ModeuserMode::uuserMode:suserMode:euserMode:rMode:userususerMode:euserMode:rMouserMode:de:ModeuseruserMode:Mode::ususerMode:erMode:userususeruserMode:Mode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMode:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMode:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uuserMode:serModeuseruuserMode:serModeuserMode::ModususerMode:euserMode:rMode:e::useuserMode:rMode:useruuserMode:serMode:ModuserMode:e:userMode:useruseruserMode:Mode:Mode:useuserMode:useuseruserModeuserMode::Mode:rModeuserMode::ruserMode:ModeuserMode:userMode::useuserMode:rModuserModuserModeuserMode::e:e:userMouserMode:de:userMode:useruserModeuserMuseruserMode:Mode:odeuserModeuserMode::::Mode:userModeuserMode::useruserMode:MouserMode:duserMuserMode:ode:euserMode::userMode:useruuserMode:serMode:Mode:useuserModeuserMode::rMode:useuserMode:rMouseruseuseruserMode:Mode:rMode:Mode:deuserMode::userMode:useruseuserMode:rModeuserMode::Mode:userMode:useususeuserMode:rMode:erModeuseruserModuserMode:e:Mode::rMode:useuserMode:ruseruuserMode:serMode:MouserModuserMode:e:de:ModuserMode:e:userMode:userMouserMouserMode:de:de:useuuserMode:serModeuseuserMode:rMouserMode:duserMode:e::ruserMode:ModeuseruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruseruserMode:Mode:Mode:useruserModeuserMode:userMouserMode:deuserMode:::Mode:userMuserMode:odeuserModususerMode:erMode:e::useuserMode:rModuserMouserMode:de:e:useruserMouserModeuserMode::de:Mode:useuserModeuserMouseruserMode:Mode:de::rMouserMode:de:userModeuserMouserModeuserMode::de::useruseuserMode:rModeuserMode::Mode:userModeuserMode::userMode:useuseuseruserMode:Mode:rModeuserMode::rMode:useuserMode:ruserMode:useruserMode:Mode:ModuuserMode:serModuserMode:e:e:userMode:userMouserMouserMode:de:de:userMode:useuserModeuserModeuseuserMode:rModuserMode:e:::ruserMode:ModeuseruserMode:Mode::userMouserMode:dususerMode:erMode:e:userMuserMode:ode:useruseruserMode:ModeuserMode:uuserMode:serModeuserMode:::Mode:userModeususerMode:erModuserMode:e::userMode:useuserMode:rModuuserMode:serMode:e:useruserMode:userMode:Mode:useususerMode:erModeuserMode::userMode:rMode:userModeuserModususerMode:erMode:e::userMode:uuserMode:seruseuserMouserModeuserMode::de:rMode:Mode:userMode:useuserModeuserMouserMode:de::rMuserMode:ode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:userMode::mauserMode:in.userModuserMode:e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:userModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuserMode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:Mode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userModeuserMode::e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuserMode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserMode:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:uuserMode:seuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduseuserMode:rMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:uuserMode:seruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::uuserMode:suserMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserModeuserMode::serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruseuserMode:rMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruserMode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuserMode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euserMode:useuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMuserMode:ode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruseuserMode:rMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e:userMode::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserMode:userMode:serMode:Mode:userMode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useuserMode:ruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:userMode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususeuserMode:rMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:userMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:useruserMode:MuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:useuserMode:rMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:deuserMode::de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:ModuserMode:e:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rMode:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruserMode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:Mode::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserModuserMode:e:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserModeuserMode:::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:ususerMode:euserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:duserMode:e:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMouserMode:de:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:odeuserMode::rMouserMode:userMouserMode:de:de:ususerMode:erMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::userMode:Mode:e:userModeuserModeuserModuuserMode:seuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:ususerMode:eruserMode:ususerMode:erMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:ususeruserMode:Mode:erMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMouserMode:de:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMode:userMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuserususerMode:erMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0userModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserMode:odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMode:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserMode:duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3userMode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruserMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMode:ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:userMode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususerMuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userMode:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususerMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuserMoususerMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModususerMode:erModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruserMode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuserMode::Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseruserMode:ModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruseruserMode:Mode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uususerMode:erMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:useuserMode:rMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMuserMode:ode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:odeuserMode::usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuseruserMode:Mode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:usuuserMode:seuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:oduserMode:e:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uususerMode:erMode:serMode:useruserMouserMode:de:ModeuserMode::useuuseuserMode:rMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseususerMode:erMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:userMode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuserMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:userMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruseuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMode:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMode:useuserMode:userMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMouserMode:de:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserMode:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:Mode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModuserMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMuserMode:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserMode:ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:de:userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserMode::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouserMode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserMode:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserModuserMode:e::serMode::serMode:userMouuserMode:suserMuserModeuserMode::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModuserMode:euserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userModuserMode:e::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuserMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuserMode:userMode:euuserModuserMode:euserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMode:ode:userModeuserMode::userModeuserModeuserMode:::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::userMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMode:oduseususerMuserMode:ode:erMouserMode:de:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuususerMode:erMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserModeuserMode::ModeuserMode::useuuserMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuserMuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:euserMode:::userMode:useruserModeuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouserMode:de:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]userMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:userMuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:uuserMode:Mode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuserMode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMode::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMouserMode:de:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:ususerMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuseruserMode:MuserMode:odeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:Mode::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuserMode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:userMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMode:useruserModeuserMode::MouserMode:deuserMode::uuserMode:suserMode:euseruserMode:Mode:rMode:useruserModeuseuseruserMode:Mode:rMode::ModeuserMode::ususerMode:euserMode:rModuseuserMode:rMode:e:userususerMode:erModeuserMode::ModeuserMode::uuserMode:suserMode:euserMode:rMode:userususerMode:euserMode:rMouserMode:de:ModeuseruserMode:Mode::ususerMode:erMode:userususeruserMode:Mode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuserMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::age[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuserMode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:userMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:Mode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userModeuserMode::e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuserMode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:Mode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserModuserMode:e:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:uuserMode:seuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduseuserMode:rMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:uuserMode:seruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::uuserMode:suserMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserModeuserMode::serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruseuserMode:rMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruserMode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::Mode:de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euserMode:useuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMuserMode:ode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruseuserMode:rMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::Mode:e:userMode::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserModeuserMode::userMode:serMode:Mode:userMode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useuserMode:ruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:userMode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususeuserMode:rMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:userMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:useruserMode:MuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:useuserMode:rMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:deuserMode::de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:ModuserMode:e:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruserMode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserModuserMode:e:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserModeuserMode:::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserMode::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:ususerMode:euserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMode:userMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:duserMode:e:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMouserMode:de:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:odeuserMode::rMouserMode:userMouserMode:de:de:ususerMode:erMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::userMode:Mode:e:userModeuserModeuserModuuserMode:seuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:ususerMode:eruserMode:ususerMode:erMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:ususeruserMode:Mode:erMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMouserMode:de:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMode:userMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuserususerMode:erMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:Mode:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserMode:odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppuseruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouserMode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserMode:duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3userMode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserModuserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMode:ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:userMode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususerMuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuserMode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususerMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuserMoususerMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModususerMode:erModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:ode:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuserMode::Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseruserMode:ModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruseruserMode:Mode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserModeuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uususerMode:erMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:MouserMode:de:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:useuserMode:rMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMuserMode:ode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:odeuserMode::usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuseruserMode:Mode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:usuuserMode:seuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:oduserMode:e:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uususerMode:erMode:serMode:useruserMouserMode:de:ModeuserMode::useuuseuserMode:rMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseususerMode:erMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:userMode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:userMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruseuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMode:useuserMode:userMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuserMode:e:uuserMuuserMode:seuserMouserMode:de:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:Mode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMuserMode:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:de:userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserMode::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouserMode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserMode:e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserModuserMode:e::serMode::serMode:userMouuserMode:suserMuserModeuserMode::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModuserMode:euserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userModuserMode:e::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuserMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuserMode:userMode:euuserModuserMode:euserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMode:ode:userModeuserMode::userModeuserModeuserMode:::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:userMode:useruseuserMode:rMode:ModeuserMode::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::ususerMode:erMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMode:oduseususerMuserMode:ode:erMouserMode:de:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuususerMode:erMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserModeuserMode::ModeuserMode::useuususerMode:erMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuserMuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:euserMode:::userMode:useruserModeuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMode:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouserMode:de:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruserModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:userMuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:uuserMode:Mode:duserMode:e:Mode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMode::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMouserMode:de:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuserMode:suserMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuseruserMode:MuserMode:odeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruserMode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuserMode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouserMode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruserMode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserMode::ModeuserModeuseruseruserMode:Mode:Mode:::useuserModuserMode:e:rMode:useruserModeuserMode::MouserMode:deuserMode::uuserMode:suserMode:euseruserMode:Mode:rMode:useruserModeuseuseruserMode:Mode:rMode::ModeuserMode::ususerMode:euserMode:rModuseuserMode:rMode:e:userususerMode:erModeuserMode::ModeuserMode::uuserMode:suserMode:euserMode:rMode:userususerMode:euserMode:rMouserMode:de:ModeuseruserMode:Mode::ususerMode:erMode:userususeruserMode:Mode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuserMode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserMode:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuseruserMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=useuseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserMode:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:Mode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userModeuserMode::e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuserMode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerMode:erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:MuserMode:ode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserModuserMode:e:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:uuserMode:seuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduseuserMode:rMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:uuserMode:seruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::uuserMode:suserMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserModeuserMode::serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruseuserMode:rMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruserMode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euserMode:useuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMuserMode:ode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruseuserMode:rMode:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::MouserMode:de:e:userMode::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserModeuserMode::userMode:serMode:Mode:userMode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useuserMode:ruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:userMode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususeuserMode:rMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:userMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:useruserMode:MuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:useuserMode:rMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:deuserMode::de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:ModuserMode:e:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::de:MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruserMode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:userModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:userMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserModuserMode:e:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMuserMode:ouserMode:duserModeuserModeuserMode:::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserModeuserMode:::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:ususerMode:euserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMode:userMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:duserMode:e:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMouserMode:de:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:odeuserMode::rMouserMode:userMouserMode:de:de:ususerMode:erMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::userMode:Mode:e:userModeuserModeuserModuuserMode:seuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:ususerMode:eruserMode:ususerMode:erMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:ususeruserMode:Mode:erMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMouserMode:de:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMode:userMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuserususerMode:erMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMode::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerMode:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserMode:odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouserMode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserMode:duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3userMode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserModuuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserMode:oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMode:ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:userMode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususerMuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMuserMode:ode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuserMode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususerMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuserMoususerMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModususerMode:erModeuserModeuserMode:::e::ode:nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuserMode::Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseruserMode:ModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruseruserMode:Mode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserMode:Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uususerMode:erMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:MouserMode:de:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:useuserMode:rMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMuserMode:ode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:odeuserMode::usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuseruserMode:Mode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:usuuserMode:seuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:oduserMode:e:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uususerMode:erMode:serMode:useruserMouserMode:de:ModeuserMode::useuuseuserMode:rMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseususerMode:erMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userMode:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:userMode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:userMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuserMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMode:useuserMode:userMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserMode:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:uuserMuuserMode:seuserMouserMode:de:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:Mode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:erMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:de:userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserMode::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserMode:e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserModuserMode:e::serMode::serMode:userMouuserMode:suserMuserModeuserMode::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModuserMode:euserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userModuserMode:e::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuserMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuserMode:userMode:euuserModuserMode:euserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMode:ode:userModeuserMode::userModeuserModeuserMode:::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:ususerMode:erMode:useruseuserMode:rMode:ModeuserMode::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::ususerMode:erMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMode:oduseususerMuserMode:ode:erMouserMode:de:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuserModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuuuserMode:suserMode:erMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserModeuserMode::ModeuserMode::useuususerMode:erMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuserMuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:euserMode:::userMode:useruserModeuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserMode:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouserMode:de:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:userMuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMode::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMouserMode:de:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuseruserModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuserMode:suserMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuseruserMode:MuserMode:odeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModeuseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:Mode:Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruserMode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:Mode:rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserModuserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:ModeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserMode:rMode::useuseuserMode:rMode:rMode:useruserModeuserModuserMode:e::ModeuserModeuseruseruserMode:Mode:Mode:::useuserModuserMode:e:rMode:useruserModeuserMode::MouserMode:deuserMode::uuserMode:suserMode:euseruserMode:Mode:rMode:useruserModeuseuseruserMode:Mode:rMode::ModeuserMode::ususerMode:euserMode:rModuseuserMode:rMode:e:userususerMode:erModeuserMode::ModeuserMode::uuserMode:suserMode:euserMode:rMode:userususerMode:euserMode:rMouserMode:de:ModeuseruserMode:Mode::ususerMode:erMode:userususeruserMode:Mode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:Mode::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMode:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duserMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuserMode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserMode:rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:Mode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userModeuserMode::e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuserMode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:rMode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerModeuserMode::erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:MuserMode:ode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserModuserMode:e:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:uuserMode:seuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduseuserMode:rMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:uuserMode:seruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::uuserMode:suserMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserModeuserMode::serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruseuserMode:rMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruserMode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuserMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euserMode:useuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMuserMode:ode:Mode:Mode:countuserMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruseuserMode:rModuserMode:e:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::MouserMode:de:e:userMode::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserModeuserMode::userMode:serMode:Mode:userMode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useuserMode:ruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:userMode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususeuserMode:rMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:userMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:useruserMode:MuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:useuserMode:rMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:deuserMode::de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:ModuserMode:e:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruserMode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuserMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:ususerMode:erModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:userMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuserMode:suserModuserMode:e:euserMode:rModuserMode:e:Mode:userMode:::ime5), rtuserMode:-userModuserMode:e:>honda_cuserModeuserModeuserMode:::useuseuserMode:rMode:rMouserMode:userMuserMode:ouserMode:duserModeuserModeuserMode:::euserMode::de:userMode:userModeuuserMode:serMode::uuserMode:seruserMode:userMuserMode:ode:ModuuserModeuserModeuserMode:::seruseuserMode:rMode:Mode:e:userModuserMode:e:uuserMode:serMode:ususerMode:euserMode:rModeuserMode::useuserMode:ruserMode:Mode:useuseuserModeuserMode::rMode:rMouserMode:userMuserMode:ode:duserMode:euserMode::userModeuserMode::userMode:useruserMuserMode:ouserMode:duserMode:e:userModeuserMode::Mode:userModuseruseuserMode:rMode:Mode:e:userMouserMode:de:uuserMode:seuuserMode:seruserMode:userMode:Mode:rModeuserMode::userMuserMode:odeuserMode::useuserMuserMode:odeuserMode::rMouserMode:userMouserMode:de:de:ususerMode:erMouserMode:de:userMode:userMode:useruserMode:Mode:uuseuserMode:rMouserMode:de:serMode:userModuserususerMode:euserModuserMode:e:rModeuserMode::userMode:Mode:e:userModeuserModeuserModuuserMode:seuseruserMode:Mode:rMode:e:::userModeuserMode::userMode:useuserMode:rMouuserMode:seuserMouseuserMode:rMode:de:rMode:de:ususerMode:eruserMode:Mode:ususerMode:eruserMode:ususerMode:erMode:Mode:uuserMode:seuserMode:rMode:useuserMode:rModuseruseuserMode:rMouserMode:deuserMode::Mode:userMode:euserMouserMode:de::userModeuserModeuserMode:::userMode:ususeruserMode:Mode:erMode:userMode:useuserMouserMode:de:rususerModuserMode:e:userMode:erModeuserMode::Mode:ususerMode:eruserModeuserMode::ModuserMode:e:userModeuserMode::uuserMode:serMouserMode:de:userModeuseuserMode:useuserMode:rMoususeruserMode:Mode:erMode:de:rMode::userModuserMode:e:userMode:userModuserMuserMode:ouserMode:de:e:useruserMuserModuserMode:e:odeuserMode::MouserMode:userMouserMode:de:userMuserMode:ode:deuserMode::useruserModuserMode:e:Mode:userMode:userMode:uuserMode:serModeuserMode::ususeuserMode:useuseruserMode:Mode:rMode:rModeuserMouserMode:deuserususerMode:erMode:Mode:::erMode:ususerMode:erModuserMode:e:useruserMuserModuserMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuseruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:serMode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouserMode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserMode:duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3userMode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserMode:oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMode:ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:userMode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususerMuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususerMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserModeuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMuserMode:ode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuserMode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususerMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:serMode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuserMoususerMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModususerMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuserMode::Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseruserMode:ModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruseruserMode:Mode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uuserMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uususerMode:erMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:MouserMode:de:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:useuserMode:rMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMuserMode:ode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:odeuserMode::usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuseruserMode:Mode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:usuuserMode:seuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:oduserMode:e:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuserMode::userMode:uususerMode:erMode:serMode:useruserMouserMode:de:ModeuserMode::useuuseuserMode:rMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::userMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseususerMode:erMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userModuserMode:e:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:userMode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMode:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:userMuserMuserMode:odususerMode:erMode:e:ouserMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeususerMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMode:useuserMode:userMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:ModeuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:uuserMuuserMode:seuserMouserMode:de:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:Mode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:userMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMuserMode:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ode:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserMode:seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:de:userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserMode:e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserModuserMode:e::serMode::serMode:userMouuserMode:suserMuserModeuserMode::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModuserMode:euserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userModuserMode:e::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuserMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuserMode:userMode:euuserModuserMode:euserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMouserMode:de:ode:userModeuserMode::userModeuserModeuserMode:::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:ususerMode:erMode:useruseuserMode:rMode:ModeuserMode::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::ususerMode:erMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMode:oduseususerMuserMode:ode:erMouserMode:de:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuserMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuuserMode:serModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuuuserMode:suserMode:erMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserModeuserMode::ModeuserMode::useuususerMode:erMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuserMuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:euserMode:::userMode:useruserModeuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouserMode:de:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMode::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMouserMode:de:Mode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuserMode:suserMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuseruserMode:MuserMode:odeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseuserMode:ruserMuserMode:ode:Mode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:Mode:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:userususerMode:erModeuserMode::ModuserMode:euseuserModeuserMode::rMode::useuseuserMode:rMode:rMode:useruserModeuserModuserMode:e::ModeuserModeuseruseruserMode:Mode:Mode:::useuserModuserMode:e:rMode:useruserModeuserMode::MouserMode:deuserMode::uuserMode:suserMode:euseruserMode:Mode:rMode:useruserModeuseuseruserMode:Mode:rMode::ModeuserMode::ususerMode:euserMode:rModuseuserMode:rMode:e:userususerMode:erModeuserMode::ModeuserMode::uuserMode:suserMode:euserMode:rMode:userususerMode:euserMode:rMouserMode:de:ModeuseruserMode:Mode::ususerMode:erMode:userususeruserMode:Mode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMode:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuseuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserMode:de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:useuserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:useuserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:Mode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userModeuserMode::e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuserMode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:ruserMode:Mode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerModeuserMode::erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:MuserMode:ode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserModuserMode:e:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:uuserMode:seuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduseuserMode:rMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:uuserMode:seruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::uuserMode:suserMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserModeuserMode::serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruseuserMode:rMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruserMode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuserMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euserMode:useuserMode:rMode:5uuserModeuserMode::serMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMuserMode:ode:Mode:Mode:countuseuserMode:rMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruseuserMode:rModuserMode:e:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::MouserMode:de:e:userMode::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserModeuserMode::userMode:serMode:Mode:userMode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useuserMode:ruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:userMode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususeuserMode:rMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:userMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:useruserMode:MuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:useuserMode:rMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:deuserMode::de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:ModuserMode:e:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserMode:rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruserMode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserMode:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuseuserMode:rMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:ususerMode:erModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:userMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:Mode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouserMode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserMode:duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:serMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: 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rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuserMode::Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseruserMode:ModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruseruserMode:Mode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruserModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], 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rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:userMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: 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rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:Mode:uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserMode:e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserModuserMode:e::serMode::serMode:userMouuserMode:suserMuserModeuserMode::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModuserMode:euserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userModuserMode:e::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuserMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuseruserMode:Mode:userMode:euuserModuserMode:euserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMouserMode:de:ode:userModeuserMode::userModeuserModeuserMode:::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:ususerMode:erMode:useruseuserMode:rMode:ModeuserMode::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::ususerMode:erMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMode:oduseususerMuserMode:ode:erMouserMode:de:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuserMode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuuserMode:serMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuuserMode:serModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuuuserMode:suserMode:erMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserModeuserMode::ModeuserMode::useuususerMode:erMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuserMuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouserMode:de:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:t->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMode::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuserMode:suserMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuseruserMode:MuserMode:odeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruserMuserMode:ode:Mode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:Mode:Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuserMode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuserMode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuserMode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:uuserMode:serususerMode:erModeuserMode::ModuserMode:euseuserModeuserMode::rMode::useuseuserMode:rMode:rMode:useruserModeuserModuserMode:e::ModeuserModeuseruseruserMode:Mode:Mode:::useuserModuserMode:e:rMode:useruserModeuserMode::MouserMode:deuserMode::uuserMode:suserMode:euseruserMode:Mode:rMode:useruserModeuseuseruserMode:Mode:rMode::ModeuserMode::ususerMode:euserMode:rModuseuserMode:rMode:e:userususerMode:erModeuserMode::ModeuserMode::uuserMode:suserMode:euserMode:rMode:userususerMode:euserMode:rMouserMode:de:ModeuseruserMode:Mode::ususerMode:erMode:userususeruserMode:Mode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserMode:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserMode:ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:Mode:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:Mode:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserMode:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:Mode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userModeuserMode::e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuserMode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMoususerModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMuserMode:ode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:ruserMode:Mode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerModeuserMode::erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:MuserMode:ode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserModuserMode:e:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:uuserMode:seuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduseuserMode:rMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:uuserMode:seruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::uuserMode:suserMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserModeuserMode::serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruseuserMode:rMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruserMode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModeuserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:time, (ususerMode:erMouserMode:duserMode:e:time4-userMode:timuserModeuseruserMode:Mode::euserMode:useuserMode:rMode:5uuserModeuserMode::seuserMode:rMode:), userMode:ruserMode:t->houserMuseruserMode:Mode:ode:ndususerMode:eruserMode:Mode:a_useruseruserMuserMode:ode:Mode:Mode:countuseuserMode:rMode:useruuserMode:suseruserMode:Mode:euserMode:rMode:Mode:ususerMode:erModususeruserMode:Mode:erMode:euuserMode:suseruseuserMode:rModuserMode:e:Mode:erMode::useuserMode:rMode:userMode:useruserMode:userModuseruserMode:Mode:e:ModeuseruserMode:ModuseruseuserMode:rModeuserMode::MouserMode:de:e:userMode::userMuserMode:ode:userModuserMode:e:userMuserMode:ode:ususerMode:erMode:useruseuserMode:rMouserMode:de:ModeuseruuserModeuserMode::userMode:serMode:Mode:userMode::userMode:userMode:userModeuserMode::ususeruseruserMode:Mode:userMode:Mode:erMuserModususerMode:erMode:e:ode:useuserMode:ruserMode:ModuserMouserMode:de:euserMode::userMode:ususerModuserMode:e:erMode:userMode:uuseuseuserMode:rMode:rMode:serMode:useuserMuserMode:ode:userMode:ruserususerMode:erMode:Mode:MuserModeuseruserMode:Mode::ouserMode:de:ususeruserModeuserMode::ModuserMode:e:erMode:useuserMode:rMode:userModususeuserMode:rMode:erMode:e:useruserModuserMode:e:userMode:ModeuserMode:userMuserMode:odeuserMode::ususerMode:useruserMode:Mode:erMode::useuserMouserMode:de:userMode:rMouserMode:de:userMode:userMode:ususeuserMode:ruserMode:MouserMode:de:eruserMode:userMode:Mode:useuserMode:rMode:userModuserMode:euserMode:useruserMode:MuserModuseuserMode:rModuserMode:e:e:ode::uuserMode:serMode:uuserMouuserMode:serMode:de:serMouserModuserMode:e:de:useuserMode:ruserMode:Mode:useuserMode:rMuserMode:ode:ususeruserMode:Mode:erModeuuserModeuserMode::serususeruserModeuserMode::Mode:erMode:Mode::userModuserMouserMode:userMouserMode:deuserMode::de:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:serModuserMode:e:useuserMode:rModeuserMode::userMuserMode:ode:useruseruseuseuseruseruserMode:Mode:ModuserMode:e:rususerMode:erMode:ModuserMode:e:rMode:Mode:cpp:		userMode:	puserMode:ruserMode:intuuserMode:serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuserMode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruserMode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:serModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserModuserMode:e:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuseuserMode:rMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:ususerMode:erModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:userMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserMode:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuseruserMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMode:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouserMode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserMode:duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserMode:oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMode:ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:userMode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserMode:de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususerMuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMuserMode:ode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuserMode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususerMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_desuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userMode:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruserMode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuserMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModususerMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuserMode::Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseruserMode:ModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruseruserMode:Mode:Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uususerMode:erMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:MouserMode:de:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:useuserMode:rMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMuserMode:ode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:odeuserMode::usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuseruserMode:Mode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:usuuserMode:seuserMode:rModuserMode:e:erModuserMode:e:userModeuserMode::userMouserMode:de:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:userMode:de:de:userModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:oduserMode:e:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuseuserMode:rMode::userMode:uususerMode:erMode:serMode:useruserMouserMode:de:ModeuserMode::useuuseuserMode:rMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::ususerMode:erMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseususerMode:erMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userModuserMode:e:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:userMode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:userMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeususerMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMode:useuserMode:userMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:uuserMuuserMode:seuserMouserMode:de:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:Mode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:userMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:userMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:ode:	rt->duserMuserMode:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususerMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserMode:e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserModuserMode:e::serMode::serMode:userMouuserMode:suserMuserModeuserMode::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModuserMode:euserModuserMode:e::userMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userModuseruserMode:Mode:e::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuserMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuseruserMode:Mode:userMode:euuserModuserMode:euserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMouserMode:de:ode:userModeuserMode::userModeuserModeuserMode:::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:ususerMode:erMode:useruseuserMode:rMode:ModeuserMode::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::ususerMode:erMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMode:oduseususerMuserMode:ode:erMouserMode:de:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuseruserMode:Mode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuuserMode:serMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuuserMode:serModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuuuserMode:suserMode:erMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserModeuserMode::ModeuserMode::useuususerMode:erMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuserMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuseruserMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouserMode:de:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuseruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMode: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuserMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuserMode:suserMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euseruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruserMuserMode:ode:Mode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruserMode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::user.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:Mode:rMode::useuserMode:rMode:useruserModeuseruserModeuseruserMode:Mode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:uuserMode:serususerMode:erModeuserMode::ModuserMode:euseuserModeuserMode::rMode::useuseuserMode:rMode:rMode:useruserModeuserModuserMode:e::ModeuserModeuseruseruserMode:Mode:Mode:::useuserModuserMode:e:rMode:useruserModeuserMode::MouserMode:deuserMode::uuserMode:suserMode:euseruserMode:Mode:rMode:useruserModeuseuseruserMode:Mode:rMode::ModeuserMode::ususerMode:euserMode:rModuseuserMode:rMode:e:userususerMode:erModeuserMode::ModeuserMode::uuserMode:suserMode:euserMode:rMode:userususerMode:euserMode:rMouserMode:de:ModeuseruserMode:Mode::ususerMode:erMode:userususeruserMode:Mode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserMode:serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMode:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:userMode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::seuuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:Mode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userModeuserMode::e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuserMode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMousususerMode:erModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMuserMode:ode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:ruserMode:Mode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerModeuserMode::erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:MuserMode:ode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserModuserMode:e:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:uuserMode:seuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduseuserMode:rMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:uuserMode:seruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::uuserMode:suserMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserModeuserMode::serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruseuserMode:rMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruserMode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:erMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeuserMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:servo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuserMode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruserMode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:seuserMode:rModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserModuserMode:e:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuseuserMode:rMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:ususerMode:erModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:userMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuserMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouserMode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserMode:duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: 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rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuserMode::Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseruserMode:ModuserMode:e:userModuseuserMode:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], 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rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMode:useuserMode:userMode:			rt->desiuseruseuserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:uuserMuuserMode:seuserMouserMode:de:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:Mode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],userMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:userMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:userMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserMode:e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserModuserMode:e::serMode::serMode:userMouuserMode:suserMuserModeuserMode::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModuserMode:euserModuserMode:e::ususerMode:erMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userModuseruserMode:Mode:e::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuserMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuseruserMode:Mode:userMode:euuserModuserMode:euserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMouserMode:de:ode:userModeuserMode::userModeuserModeuserMode:::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:ususerMode:erMode:useruseuserMode:rMode:ModeuserMode::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::ususerMode:erMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:userMode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMouserMode:de:oduseususerMuserMode:ode:erMouserMode:de:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuseruserMode:Mode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuuserMode:serMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuuserMode:serModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuuuserMode:suserMode:erMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserModeuserMode::ModeuserMode::useuususerMode:erMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:e:rModeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuserMode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuseruserMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouserMode:de:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useususerMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euserModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:erMode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuserMode:suserMode:erMode:ModuserMuseruserMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruserMuserMode:ode:Mode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserMode:ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:userModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:useruseuserMode:rModeuserMode::ModeuseuseruserMode:ModeuserMode::rMode::useuserMode:rMode:useruserModeuseruserModeuseruserMode:Mode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:uuserMode:serususerMode:erModeuserMode::ModuserMode:euseuserModeuserMode::rMode::useuseuserMode:rMode:rMode:useruserModeuserModuserMode:e::ModeuserModeuseruseruserMode:Mode:Mode:::useuserModuserMode:e:rMode:useruserModeuserMode::MouserMode:deuserMode::uuserMode:suserMode:euseruserMode:Mode:rMode:useruserModeuseuseruserMode:Mode:rMode::ModeuserMode::ususerMode:euserMode:rModuseuserMode:rMode:e:userususerMode:erModeuserMode::ModeuserMode::uuserMode:suserMode:euserMode:rMode:userususerMode:euserMode:rMouserMode:de:ModeuseruserMode:Mode::ususerMode:erMode:userususeruserMode:Mode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserModeuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuserMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserMode:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruserModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuserModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:Mode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userModeuserMode::e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuseruserMode:Mode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMousususerMode:erModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMuserMode:ode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:ruserMode:Mode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerModeuserMode::erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:MuserMode:ode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserModuserMode:e:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:uuserMode:seuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduseuserMode:rMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:uuserMode:seruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::uuserMode:suserMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserModeuserMode::serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruseuserMode:rMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruserMode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMode:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserMode:s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuserMode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:seuserMode:rModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserModuserMode:e:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuseuserMode:rMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:ususerMode:erModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:userMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseususerMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[useuserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruserModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouserMode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode::::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserMode:oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMode:ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:userMode:nteuseruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMuserMode:ode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuserMode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususerMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruserMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruserMode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuserMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModususerMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuserMode::Mode:useruserMode:Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uususerMode:erMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:MouserMode:de:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:useuserMode:rMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMuserMode:ode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:odeuserMode::usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:e:rMode:useuseruserMode:Mode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:usuuserMode:seuserMode:rModuserMode:e:erModuserMode:e:userModeuseuserMode:rMode::userMouserMode:de:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:userMode:de:de:ususerMode:erModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:oduserMode:e:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuseuserMode:rMode::userMode:uususerMode:erMode:serMode:useruserMouserMode:de:ModeuserMode::useuuseuserMode:rMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::ususerMode:erMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseususerMode:erMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userModuserMode:e:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:userMode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:userMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeususerMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuserMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMode:useuserMode:userMode:			rt->desiuserususerMode:euserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:uuserMuuserMode:seuserMouserMode:de:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:Mode:de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:userMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:userMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMuserMode:ode:rMode:userMode:userMode:uuserMode:serMode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMode:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rMode:usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMode:userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserMode:e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModeuserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserModuserMode:e::serMode::serMode:userMouuserMode:suserMuserModeuserModeuserMode:::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModuserMode:euserModuserMode:e::ususerMode:erMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userModuseruserMode:Mode:e::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuserMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuseruserMode:Mode:userMode:euuserModuserMode:euserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMouserMode:de:ode:userModeuserMode::userModeuserModeuserMode:::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:ususerMode:erMode:useruseuserMode:rMode:ModeuserMode::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::ususerMode:erMode:userMode:userMuserMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMouserMode:de:oduseususerMuserMode:ode:erMouserMode:de:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuseruserMode:Mode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuuserMode:serMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuuserMode:serModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuuuserMode:suserMode:erMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserModeuserMode::ModeuserMode::useuususerMode:erMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rModeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuserMode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuseruserMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouserMode:de:de:.3ususerMode:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useususerMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMode:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuserMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruserMuserMode:ode:Mode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userMode:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuserMode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuserMode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserMode::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:uuserMode:seruseuserMode:rModeuserMode::ModeuseuseruserMode:ModeuserMode::rMode::useuserMode:rMode:useruserModeuseruserModeuseruserMode:Mode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:uuserMode:serususerMode:erModeuserMode::ModuserMode:euseuserModeuserMode::rMode::useuseuserMode:rMode:rMode:useruserModeuserModuserMode:e::ModeuserModeuseruseruserMode:Mode:Mode:::useuserModuserMode:e:rMode:useruserModeuserMode::MouserMode:deuserMode::uuserMode:suserMode:euseruserMode:Mode:rMode:useruserModeuseuseruserMode:Mode:rMode::ModeuserMode::ususerMode:euserMode:rModuseuserMode:rMode:e:userususerMode:erModeuserMode::ModeuserMode::uuserMode:suserMode:euserMode:rMode:userususerMode:euserMode:rMouserMode:de:ModeuseruserMode:Mode::ususerMode:erMode:userususeruserMode:Mode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuserMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerModeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:Mode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userModeuserMode::e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerMode:eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:userMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuseruserMode:Mode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMousususerMode:erModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMuserMode:ode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:ruserMode:Mode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerModeuserMode::erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:MuserMode:ode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserModuserMode:e:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:uuserMode:seuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduseuserMode:rMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:uuserMode:seruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::uuserMode:suserMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserModeuserMode::serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruseuserMode:rMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruserMode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:e:duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerMode:erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rt-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuserMode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserMode::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:seuserMode:rModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserModuserMode:e:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuseuserMode:rMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:ususerMode:erModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:userMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:serMode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuuserMode:suserMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerMode:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouserMode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouserMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserMode:oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMode:ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:e:useruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMuserMode:ode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuserMode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususerMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:ode:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruserMode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuserMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModususerMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:erMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuserMode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uususerMode:erMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:MouserMode:de:Mode:deuserMode::userMode:useuserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:useuserMode:rMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMuserMode:ode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:odeuserMode::usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:euserMode::rMode:useuseruserMode:Mode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:usuuserMode:seuserMode:rModuserMode:e:erModuserMode:e:userModeuseuserMode:rMode::userMouserMode:de:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:userMode:de:de:ususerMode:erModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:oduserMode:e:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuseuserMode:rMode::userMode:uususerMode:erMode:serMode:useruserMouserMode:de:ModeuserMode::useuuseuserMode:rMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::ususerMode:erMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseususerMode:erMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userModuserMode:e:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:userMode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:userMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeususerMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rMode:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMode:useuserMode:userMode:			rt->desiuserususerMode:euserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:uuserMuuserMode:seuserMouserMode:de:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserModuseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:userMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:userMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruseruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMode:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rModeuserMode::usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMode:userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserMode:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserMode:e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserModuserMode:e::serMode::serMode:userMouuserMode:suserMuserModeuserModeuserMode:::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModuserMode:euserModuserMode:e::ususerMode:erMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userModuseruserMode:Mode:e::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuserMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuseruserMode:Mode:userMode:euuserModuserMode:euserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMouserMode:de:ode:userModeuserMode::userModeuserModeuserMode:::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:ususerMode:erMode:useruseuserMode:rMode:ModeuserMode::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::ususerMode:erMode:userMode:userMuuserMode:serMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMouserMode:de:oduseususerMuserMode:ode:erMouserMode:de:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuseruserMode:Mode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuuserMode:serMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuuserMode:serModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMode:e:e::useuuuuserMode:suserMode:erMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserMouserMode:deuserMode::ModeuserMode::useuususerMode:erMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rModeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuserMode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuseruserMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouserMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useususerMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeuserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuserMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruserMuserMode:ode:Mode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:Mode::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuserMode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruserMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeuseuserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::useuserMode:rModuserModeuserMode::e:useruserModeuserModuserMode:e::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:uuserMode:seruseuserMode:rModeuserMode::ModeuseuseruserMode:ModeuserMode::rMode::useuserMode:rMode:useruserModeuseruserModeuseruserMode:Mode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:uuserMode:serususerMode:erModeuserMode::ModuserMode:euseuserModeuserMode::rMode::useuseuserMode:rMode:rMode:useruserModeuserModuserMode:e::ModeuserModeuseruseruserMode:Mode:Mode:::useuserModuserMode:e:rMode:useruserModeuserMode::MouserMode:deuserMode::uuserMode:suserMode:euseruserMode:Mode:rMode:useruserModeuseuseruserMode:Mode:rMode::ModeuserMode::ususerMode:euserMode:rModuseuserMode:rMode:e:userususerMode:erModeuserMode::ModeuserMode::uuserMode:suserMode:euserMode:rMode:userususerMode:euserMode:rMouserMode:de:ModeuseruserMode:Mode::ususerMode:erMode:userususeruserMode:Mode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserMode:rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:userModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserMode:serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruserMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerMode:erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:Mode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userModeuserMode::e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerMode:erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerModeuserMode::eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:userMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuseruserMode:Mode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMousususerMode:erModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMuserMode:ode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:ruserMode:Mode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerModeuserMode::erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:MuserMode:ode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserModuserMode:e:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:uuserMode:seuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduseuserMode:rMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:uuserMode:seruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::uuserMode:suserMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserModeuserMode::serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruseuserMode:rMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruserMode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userMode:userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuserMode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeuserMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:seuserMode:rModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserModuserMode:e:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuseuserMode:rMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:ususerMode:erModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:userMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMode:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:seruserMode:Mode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuuserMode:suserMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userModuuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouserMode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode:::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: 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rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:userMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuserMode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], 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rt->ususerMode:erMode:F[2]userMode:useruserMode:Mode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:userMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeususerMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userModeuserMode::], 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rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMode:useuserMode:userMode:			rt->desiuserususerMode:euserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:uuserMuuserMode:seuserMouserMode:de:rMode:oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:userMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:userMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserMode:serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:prususerMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:userModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rModeuserMode::usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMode:userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMode:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserMode:e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserModuserMode:e::serMode::serMode:userMouuserMode:suserMuserModeuserModeuserMode:::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModuserMode:euserModuserMode:e::ususerMode:erMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userModuseruserMode:Mode:e::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuserMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuseruserMode:Mode:userMode:euuserModuserMode:euserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMouserMode:de:ode:userModeuserMode::userModeuserModeuserMode:::uuserModeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:ususerMode:erMode:useruseuserMode:rMode:ModeuserModuserMode:e::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::ususerMode:erMode:userMode:userMuuserMode:serMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMouserMode:de:oduseususerMuserMode:ode:erMouserMode:de:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuseruserMode:Mode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuuserMode:serMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuuserMode:serModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMouserMode:de:e:e::useuuuuserMode:suserMode:erMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserMouserMode:deuserMode::ModeuserMode::useuususerMode:erMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rModeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuserMode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuseruserMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserMode:de:userMode:uuserMode:serMode:userModeuserMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouserMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useususerMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeuserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuserMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruserMuserMode:ode:Mode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruserMode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:useruserModeuseuserMode:rMode::ModeuseuserMode:rMode::uuserMode:seuserMode:rModuserModeuserMode::e:useruserModeuserModuserMode:e::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:uuserMode:seruseuserMode:rModeuserMode::ModeuseuseruserMode:ModeuserMode::rMode::useuserMode:rMode:useruserModeuseruserModeuseruserMode:Mode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:uuserMode:serususerMode:erModeuserMode::ModuserMode:euseuserModeuserMode::rMode::useuseuserMode:rMode:rMode:useruserModeuserModuserMode:e::ModeuserModeuseruseruserMode:Mode:Mode:::useuserModuserMode:e:rMode:useruserModeuserMode::MouserMode:deuserMode::uuserMode:suserMode:euseruserMode:Mode:rMode:useruserModeuseuseruserMode:Mode:rMode::ModeuserMode::ususerMode:euserMode:rModuseuserMode:rMode:e:userususerMode:erModeuserMode::ModeuserMode::uuserMode:suserMode:euserMode:rMode:userususerMode:euserMode:rMouserMode:de:ModeuseruserMode:Mode::ususerMode:erMode:userususeruserMode:Mode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruseruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModuserModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euseruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:userMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rModeuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:Mode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userModeuserMode::e:ususerMode:erMouserMode:deuserMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerModeuserMode::erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerModeuserMode::eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:userMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuseruserMode:Mode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMousususerMode:erModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMuserMode:ode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:ruserMode:Mode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerModeuserMode::erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:MuserMode:ode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserModuserMode:e:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:uuserMode:seuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduseuserMode:rMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:uuserMode:seruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::uuserMode:suserMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserModeuserMode::serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruseuserMode:rMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruserMode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:ectouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserModuserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuserMode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususerMode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:seuserMode:rModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserModuserMode:e:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuseuserMode:rMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:ususerMode:erModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:userMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMode:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMouserMode:de:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:seruserMode:Mode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuuserMode:suserMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeuserMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:userModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouserMode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserMode:oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMode:ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:userMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMuserMode:ode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuserMode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruserMode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuserMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModususerMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserMode:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuserMode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:ususerMode:erMode::,uususerMode:erMode:suserMode:erMode:useruserMode:Mode:useuuserMode:serMode:rususerMode:erMode:useruserMode:Mode:MouserMode:duserMode:e:userMouseruseruserMode:MouserMode:de:Mode:deuserMode::userMode:ususerMode:euserMode:rMode:userModeuuserMode:seruserMode:Mode::userMode:useuserMode:rMuserMuserMode:ode:ode:useruserModuserMode:userMode:e:userMode:MuserMode:ode:userModuserMode:e:userMode:userModuserMode:euseuserMuserMode:ode:userMode:rMode::userMode:userMode:uuserModuserMode:e:serMode:useuuuserMode:serMode:seuserMode:rMode:ruserMuserMode:odeuserMode::usususerMode:erMode:erMode:ModuserMode:e:userMouseruserMode:Mode:de:useuuserMode:serModuserMode:euserMode::rMode:useuseruserMode:Mode:rModeuserMode::userMode:userMode:ususerMode:erMuserMode:odeuserMode::useruserModuserMuserMode:ode:e:MuserMode:ode:userMode:usuuserMode:seuserMode:rModuserMode:e:erModuserMode:e:userModeuseuserMode:rMode::userMouserMode:de:userMode:useruseuserMode:rMode:MouseruserMode:Mode:de:useuuserMode:useruserMode:Mode:serModuserMode:e:ruserMode:ModuuserMode:serMode:e:userMouseruserMode:MouserMode:userMode:userMode:de:de:ususerMode:erModeuserMode::ususerMode:erMode:userMode:userMode:userMuserMode:oduserMode:e:userModuserMode:e:useruuserModeuserMode::serModuserMode:userMode:e:MuserMode:ode:userMouserMode:duserMode:e:userModeuserMode::userMouserMode:deuseuserMode:rMode::userMode:uususerMode:erMode:serMode:useruserMouserMode:de:ModeuserMode::useuuseuserMode:rMode:serMode:ruserMode:ModususerMode:erMode:e:userMouserusususerModeuserMode::erMode:userMode:erMode:MuserMode:ode:deuserMode::ususerMode:erMode:userModuuserMode:serMode:e:userMode:userMode:useuserMode:rMode:ususerMode:erususerMode:erModuseususerMode:erMode:rMode:e:MuserMode:oduseuserMode:rModeuserMode::e:userMode:userMode:userMode:userMode:userModeuserMuserMode:userModuserMode:e:ode::userMode:userMode:uuseruserMode:ModuserMode:userMode:e:seuserMode:ruserMode:userModeuserMode::ModuserMuserMode:ode:userMode:e:MouserMode:duserMode:e:uuseruserModuserModeuserMode::e:Mode:serMode:prinuserMouserMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:userMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeususerMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserMode:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMode:useuserMode:userMode:			rt->desiuserususerMode:euserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususerMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:uuserMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:userMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:userMode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:prususerMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMode:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:userModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rModeuserMode::usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMode:userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::eruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserMode:e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserModuserMode:e::serMode::serMode:userMouuserMode:suserMuserModeuserModeuserMode:::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModuserMode:euserModuserMode:e::ususerMode:erMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userModuseruserMode:Mode:e::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuserMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuseruserMode:Mode:userMode:euuserModuserMode:euserMode::serModuserMode:e::userMouserMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMouserMode:de:ode:userModeuserMode::userModeuserModeuserMode:::uuserMuserMode:odeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:ususerMode:erMode:useruseuserMode:rMode:ModeuserModuserMode:e::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::ususerMode:erMode:userMode:userMuuserMode:serMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:userModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMouserMode:de:oduseususerMuserMode:ode:erMouserMode:de:rMode:e:ModeuserMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuseruserMode:Mode::Mode::usuuserMode:serMode:erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuuserMode:serMode:oduserMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuuseruserMode:Mode:serModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMouserMode:de:e:e::useuuuuserMode:suserMode:erMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserMouserMode:deuserMode::ModeuserMode::useuususerMode:erMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rModeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuserMode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruseruserMode:ModeuseuseruserMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserModuserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuserMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouserMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useususerMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMode:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::Mode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeuserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuserMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMode::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruserMuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModeuseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuserMode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserModuseruserMode:Mode:e:ModeuserModeuserMode:::userMode:uuserMode:seruserModeuseuserMode:rMode::ModeuseuserMode:rMode::uuserMode:seuserMode:rModuserModeuserMode::e:useruserModeuserModuserMode:e::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:uuserMode:seruseuserMode:rModeuserMode::ModeuseuseruserMode:ModeuserMode::rMode::useuserMode:rMode:useruserModeuseruserModeuseruserMode:Mode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:uuserMode:serususerMode:erModeuserMode::ModuserMode:euseuserModeuserMode::rMode::useuseuserMode:rMode:rMode:useruserModeuserModuserMode:e::ModeuserModeuseruseruserMode:Mode:Mode:::useuserModuserMode:e:rMode:useruserModeuserMode::MouserMode:deuserMode::uuserMode:suserMode:euseruserMode:Mode:rMode:useruserModeuseuseruserMode:Mode:rMode::ModeuserMode::ususerMode:euserMode:rModuseuserMode:rMode:e:userususerMode:erModeuserMode::ModeuserMode::uuserMode:suserMode:euserMode:rMode:userususerMode:euserMode:rMouserMode:de:ModeuseruserMode:Mode::ususerMode:erMode:userususeruserMode:Mode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouserMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserMode:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userMode:useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMode:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serMode:e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:Mode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->museuserMode:rMode:useruserMode:Mode:uuserMode:serModuserMode:userModeuserMode::e:ususerMode:erMouserMode:deususerMode:erMode::ususerMouserMode:de:eruuserMode:serModeuserMode:userMode::Mode:userMouserMode:de:userMode:ususerModeuserMode::erModuserMode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:deuserMode:userModuserMode:e::ususerModeuserMode::eruserModuserMode:euserMode:userMode::MuserMode:oduserMode:e:userMode:userMode:userMode:uuserMuserMode:ode:userMode:serModuserMode:e:useruserModuserMode:e:MoususerMode:erMode:deuserMode::usuuserMode:serMode:eruserModeuseuseruserMode:Mode:ruserMode:Mode::Mode:userMode:userMuserMouserMode:de:ode:uuserMode:serModususerMode:erMode:e:userMousususerMode:erModuserMode:e:erMode:deuseruserMode:MuserMode:ode::ususerMuseruserMode:Mode:ode:eruserModeuserMode::MuserMuserMode:ode:ode:userMouserMode:de:userMode:uuserMode:serModuserMode:e:userMoususerMode:eususerMode:euserMode:rMode:ruserMode:Mode:deuserModeuserModeuserMode::::ususerMode:eruserMode:uuserMode:serModeuserMode::Mode:userMode:ususerModeuserMode::erMode:uuserMode:serModuserModeuserMode::euseruserMode:Mode::userMouserMode:duserMode:euserMouseruserMode:MuserMode:ode:de::ususerMode:userMode:erMode:useuususerMode:erMode:serMode:ruserMode:Mode:userMode:uuserMode:seuserModuserMode:e:rModuuserMode:serMode:useruserMode:Mode:e:userMuuserMode:serMode:ouserMode:deuserMode::ususerModuserMode:e:erMode:uuserMode:seuserMode:rMode:useruserMode:userModeuserModeuseruserMode:Mode:::Mode:uuserModuserModeuserMode::e:serMuserMode:oduseuserMode:rMode:e:userMouserMode:deuserMode::ususerMode:erMouserMode:de:useuserMoususerMode:erMode:de:rMode:useuserMode:rMode:uuserMode:seruuserModeuseuserMode:ruserMode:Mode::serMouserMuserMode:ode:de:ModuserMode:e:userMouserMuserMode:ode:deuserMode::uuserMode:suserMode:erMode:useuserMode:userMode:rMuserMode:ouserMode:de:userModuserMode:e:userMode:userModeuserMode::uuuserModeuserMode::serMode:seruserMode:useuserMode:rMode:3duserMode:userMode:of->setSpliuseuserMode:ruserMode:MouserMode:de:nuseuseruseuserMode:rMode:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuserMode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserMode::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:seuserMode:rModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserModuserMode:e:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuseuserMode:rMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:ususerMode:erModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:userMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:rMususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMouserMode:de:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMouserMode:de:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:seruserMode:Mode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuuserMode:suserMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:ususerMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuserMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouserMode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserMode:oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruserMode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:userMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMuserMode:ode:eruserMode:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruserMode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuserMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModususerMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuuserMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuserMode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			userMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:userMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeususerMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMode:useuserMode:userMode:			rt->desiuserususerMode:euserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususerMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususeuserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:uuserMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:userMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:prususerMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMode:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::ususerMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:userModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rModeuserMode::usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMode:userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::euserMode:ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserMode:e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserModuserMode:e::serMode::serMode:userMouuserMode:suserMuserModeuserModeuserMode:::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModuserMode:euserModuserMode:e::ususerMode:erMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userModuseruserMode:Mode:e::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuserMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuseruserMode:Mode:userMode:euuserModuserMode:euserMode::serModuserMode:e::userMouserMode:userMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMouserMode:de:ode:userModeuserMode::userModeuserModeuserMode:::uuserMuserMode:odeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:ususerMode:erMode:useruseuserMode:rMode:ModeuserModuserMode:e::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::ususerMode:erMode:userMode:userMuuserMode:serMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 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57userMouseuserMode:rMouserMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useususerMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserMode::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMode:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeuserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuserMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruserMuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserMode:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userModuseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuserMode::rMode:ModeuserMode::useuserMode:rMode:useruserMouserMode:duseruserMode:Mode:e:ModeuserModeuserMode:::userMode:uuserMode:seruserModeuseuserMode:rMode::ModeuseuserMode:rMode::uuserMode:seuserMode:rModuserModeuserMode::e:useruserModeuserModuserMode:e::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:uuserMode:seruseuserMode:rModeuserMode::ModeuseuseruserMode:ModeuserMode::rMode::useuserMode:rMode:useruserModeuseruserModeuseruserMode:Mode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:uuserMode:serususerMode:erModeuserMode::ModuserMode:euseuserModeuserMode::rMode::useuseuserMode:rMode:rMode:useruserModeuserModuserMode:e::ModeuserModeuseruseruserMode:Mode:Mode:::useuserModuserMode:e:rMode:useruserModeuserMode::MouserMode:deuserMode::uuserMode:suserMode:euseruserMode:Mode:rMode:useruserModeuseuseruserMode:Mode:rMode::ModeuserMode::ususerMode:euserMode:rModuseuserMode:rMode:e:userususerMode:erModeuserMode::ModeuserMode::uuserMode:suserMode:euserMode:rMode:userususerMode:euserMode:rMouserMode:de:ModeuseruserMode:Mode::ususerMode:erMode:userususeruserMode:Mode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserMode:de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserMode:ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserMode::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuserMode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:Mode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	userMode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuserModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuserMode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::Mode:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:seuserMode:rModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserModuserMode:e:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuseuserMode:rMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:ususerMode:erModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:userMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:ruserMode:MususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMouserMode:de:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMouserMode:de:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:seruserMode:Mode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuuserMode:suserMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususerMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserMode:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruserMode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:erModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserMode:oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:userMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserModeuserMode::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruserMode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuserMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModususerMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuserMode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userMode:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:userMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeususerMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMode:useuserMode:userMode:			rt->desiuserususerMode:euserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuserMode:rMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususeuserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:uuserMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:userMode:de::userMode:useuserMode:userMode:rMode:useruseruserMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:prususerMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMode:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerMode:erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:userModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rModeuserMode::usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMode:userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:erMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:userMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::euserMode:ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserMode:e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserModuserMode:e::serMode::serMode:userMouuserMode:suserMuserModeuserModeuserMode:::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModuserMode:euserModuserMode:e::ususerMode:erMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:userMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userModuseruserMode:Mode:e::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuseuserMode:rMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuseruserMode:Mode:userMode:euuserModuserMode:euserMode::serModuserMode:e::userMouserMode:userMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMouserMode:de:ode:userModeuserMode::userModeuserModeuserMode:::uuserMuserMode:odeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:ususerMode:erMode:useruseuserMode:rMode:ModeuserModuserMode:e::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::ususerMode:erMode:userMode:userMuuserMode:serMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 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57userMouseuserMode:rMouserMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useususerMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeuserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuserMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::userMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruserMuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:Mode:FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouserMode:deuserMode::userMode:ususerMode:eruseuserModeuseruserMode:Mode::rMode:ModeuserMode::useuserMode:rMode:useruserMouserMode:duseruserMode:Mode:e:ModeuserModeuserMode:::userMode:uuserMode:seruserModeuseuserMode:rMode::ModeuseuserMode:rMode::uuserMode:seuserMode:rModuserModeuserMode::e:useruserModeuserModuserMode:e::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:uuserMode:seruseuserMode:rModeuserMode::ModeuseuseruserMode:ModeuserMode::rMode::useuserMode:rMode:useruserModeuseruserModeuseruserMode:Mode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:uuserMode:serususerMode:erModeuserMode::ModuserMode:euseuserModeuserMode::rMode::useuseuserMode:rMode:rMode:useruserModeuserModuserMode:e::ModeuserModeuseruseruserMode:Mode:Mode:::useuserModuserMode:e:rMode:useruserModeuserMode::MouserMode:deuserMode::uuserMode:suserMode:euseruserMode:Mode:rMode:useruserModeuseuseruserMode:Mode:rMode::ModeuserMode::ususerMode:euserMode:rModuseuserMode:rMode:e:userususerMode:erModeuserMode::ModeuserMode::uuserMode:suserMode:euserMode:rMode:userususerMode:euserMode:rMouserMode:de:ModeuseruserMode:Mode::ususerMode:erMode:userususeruserMode:Mode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[useruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserModuserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMode:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:Mode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MuserMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruserMode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erModuserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuserMode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModeuseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:seuserMode:rModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserModuserMode:e:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuseuserMode:rMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:ususerMode:erModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:userMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserMode:oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseuserMode:ruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:ruserMode:MususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMouserMode:de:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMouserMode:de:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:seruserMode:Mode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuuserMode:suserMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:useruserMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:userModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuserMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruserMode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserMode:oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:userMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userMode:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruserMode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuserMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuserMode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModuserModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususerMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:useuserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeususerMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMode:useuserMode:userMode:			rt->desiuserususerMode:euserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rModuserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuserMode:rMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususeuserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:uuserMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:prususerMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMode:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rMode:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:userModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rModeuserMode::usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMode:userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMode:de:userMode:userMouserModeuserMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:userMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::euserMode:ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserMode:e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserModuserMode:e::serMode::serMode:userMouuserMode:suserMuserModeuserModeuserMode:::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuserMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModuserMode:euserModuserMode:e::ususerMode:erMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:ususerMode:erMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userModuseruserMode:Mode:e::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuseuserMode:rMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuseruserMode:Mode:userMode:euuserModuserMode:euserMode::serModuserMode:e::userMouserMode:userMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMouserMode:de:ode:userModeuserMode::userModeuserModeuserMode:::uuserMuserMode:odeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:ususerMode:erMode:useruseuserMode:rMode:ModeuserModuserMode:e::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::ususerMode:erMode:userMode:userMuuserMode:serMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 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57userMouseuserMode:rMouserMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:serMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useususerMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:userMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:useruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeuserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:userususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuserMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruserMuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruserMode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:ModeuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruserMode:Mode:Mode:::userMode:useruserModeuserMode::MouseruserMode:Mode:deuserMode::userMode:ususerMode:eruseuserModeuseruserMode:Mode::rMode:ModeuserMode::useuserMode:rMode:useruserMouserMode:duseruserMode:Mode:e:ModeuserModeuserMode:::userMode:uuserMode:seruserModeuseuserMode:rMode::ModeuseuserMode:rMode::uuserMode:seuserMode:rModuserModeuserMode::e:useruserModeuserModuserMode:e::ModeuseuserMode:rMode::useuseuserMode:rMode:rMode:uuserMode:seruseuserMode:rModeuserMode::ModeuseuseruserMode:ModeuserMode::rMode::useuserMode:rMode:useruserModeuseruserModeuseruserMode:Mode::Mode::ModeuseuserMode:rMode::useuserMode:rMode:uuserMode:serususerMode:erModeuserMode::ModuserMode:euseuserModeuserMode::rMode::useuseuserMode:rMode:rMode:useruserModeuserModuserMode:e::ModeuserModeuseruseruserMode:Mode:Mode:::useuserModuserMode:e:rMode:useruserModeuserMode::MouserMode:deuserMode::uuserMode:suserMode:euseruserMode:Mode:rMode:useruserModeuseuseruserMode:Mode:rMode::ModeuserMode::ususerMode:euserMode:rModuseuserMode:rMode:e:userususerMode:erModeuserMode::ModeuserMode::uuserMode:suserMode:euserMode:rMode:userususerMode:euserMode:rMouserMode:de:ModeuseruserMode:Mode::ususerMode:erMode:userususeruserMode:Mode:erMode:ModeuseruseruserMode:Mode:Mode::userMode:uuserMode:suserMode:erususerMode:erMode:ModeuseruserMode:Mode::uuserMode:serModuserMode:e:useruserModuseruserMode:Mode:e:ModeususerMode:eruserMode:Mode::userMode:useruserMode:ModuserModeuseruserMode:Mode::euseuserMode:ruserMode:Mode::userMode:useruserMouserMode:de:ModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::uuserMode:serMode:useruserMode:ModeuseruseuserMode:rMode:Mode::uuserMode:serMode:ususerMode:eruseuserMode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode::userMode:useruserModuserMode:e:ModeususerMode:eruseruserMode:Mode:ModuserMode:e::userMode:useruserMouserMode:de:ModeuseuserMode:ruserMode:Mode::userModuserModeuseruserMode:Mode::e:useruserMode:ModeuseruserModeuserMode::Mode::uuserMode:serMode:useruserMode:MouserMode:duserMode:euseruserModuserMode:e:Mode::ususerMode::	useruserMode:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMode:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserMode:euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuserMode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMode:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:Mode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->userEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:de:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMode:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuserMode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuseruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:seuserMode:rModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserModuserMode:e:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuseuserMode:rMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:ususerMode:erModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:userMode:eruserMode:ModeuuserMode:seruserMode:ModususerMode:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserModeuserMode::oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseuserMode:ruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:ruserMode:MususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMouserMode:de:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMouserMode:de:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:seruserMode:Mode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuuserMode:suserMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:ususerModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruserMode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserMode:oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:userMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuserMode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruserMode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuserMode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MuserMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususerMode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:useuserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeususerMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMode:useuserMode:userMode:			rt->desiuserususerMode:euserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuserMode:rMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususeuserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:uuserMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:prususerMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMode:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:userModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rModeuserMode::usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::serMode:userMode:userMode:useruuserMode:seruserMode:userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeuserMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:userMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::euserMode:ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserMode:e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuserMode:->xeuuserModuserMode:euuserModeuserModuserMode:e::serMode::serMode:userMouuserMode:suserMuserModeuserModeuserMode:::oduserMode:e:erMode:de:userMode:userMode:userMuserMode:ode:useuuserMode:suserModuserMode:e:erMode:rModeuserMode:userMode::useruserModeuseuserMode:rMode::Mode:ususerMode:userMode:ususerMode:euserMode:rMode:erMode:userMode:userModuserMode:e:userModuserMode:euserModuserMode:e::ususerMode:erMouseuserMode:ruseruserMode:Mode:MouserMouseuserMode:rMode:de:de:deuserModeuseuserMode:rMouserMode:de:::useruserMode:ususerMode:erMode:ModuserMode:e:uuserMode:serMouserMode:de:userModeuserMode::ususerMode:erModeuserMode::userMode:userMode:useruseruserMode:MouserModeuserMode:userModuseruserMode:Mode:e::de:userModeuserMode::MouuserMode:suserMode:erMuserMode:odeuserMode::de:userMode:useuseuserMode:rMode:rModeuserMouserMode:de::useuserMode:rMode:userMuseruserMode:Mode:userMode:ode:useuuserMode:serMode:rMode:ususerModeuserMode::ususerMode:erMouserMode:de:eruserMode:Mode:userModuseruserMode:Mode:userMode:euuserModuserMode:euserMode::serModuserMode:e::userMouserMode:userMode:de:userMode:uuserMode:serMouserMouserMode:de:de:useruserModeuserMode::Mode:uuserMode:seruseuserMode:rMode:ModeuserMode::ususerMode:erMode:useuserModeuserMode::ruserMode:Mode:userMode:userMode:useruserMode:MuserMouserMode:de:ode:userModeuserMode::userModeuserModeuserMode:::uuserMuserMode:odeuserMuserMuserMode:ode:ouserMode:duserMode:euserMode:::seruserMode:ModeuserMode::userMuserMode:userMode:ode:useuserMode:userMode:rModuserMode:e:useuseuserMode:rMode:rMode:ususerMouserMode:de:userMode:eruserMuserMode:ode:Mode:ususerMode:erMode:useruseuserMode:rMode:ModeuserModuserMode:e::userMouseuserModuserMode:e:rModuserMode:e:deuserMode::uuserMode:serMode:userMouserMuseuserMode:rMode:ouserMode:de:de:useruserMoususerMode:euserMode:rMode:userMode:deuserMode::Mode:userModuserMode:e:useruserMode:ModeuuserMode:seuserMode:rMode::ususerMode:erMode:userMode:userMuuserMode:serMode:ode:userModeuserMode::uuserMuserMode:odeuserMuuserMode:suserMode:userMode:userMode:euserMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 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57userMouseuserMode:rMouserMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useususerMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:rMuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:userMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMode:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserMode:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeuserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuserMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruserMuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e = useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruseruseuseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuserMode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuserMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserMode:serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:Mode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuserMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususerMode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serMode:de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:serModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuserMode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouserMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:seuserMode:rModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserModuserMode:e:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuseuserMode:rMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:ususerMode:erModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userModeuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:userMode:eruserMode:ModeuuserMode:seruserMode:ModususerModuserMode:e:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserModeuserMode::oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseuserMode:ruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:ruserMode:MususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMouserMode:de:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMouserMode:de:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:seruserMode:Mode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuuserMode:suserMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserMode::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserModuserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruserMode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rMode:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserMode:oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:userMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userMode:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuserMode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:useruseruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuserMode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:e:userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususerMode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userModeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:useuserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeususerMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMode:useuserMode:userMode:			rt->desiuserususerMode:euserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuserMode:rMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususeuserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:uuserMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouserMode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:prususerMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserModuserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:userModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:rModeuserMode::usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserMode:userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeuserMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:userMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::euserMode:ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserMode:e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:uuserMode:serModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMouserMode:de:oduseususerMuserMode:ode:erMouserMode:de:rMode:e:ModeususerMode:erMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuseruserMode:Mode::Mode::usuuserMode:serModeuserMode::erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuuserMode:serMode:oduseuserMode:rMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuuseruserMode:Mode:serModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMouserMode:de:e:e::useuuuuserMode:suserMode:erMode:serMode:serModeuserMode::rModuserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserMouserMode:deuserMode::ModeuserMode::useuuuserMode:suserMode:erMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruserMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuserMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserMode:rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useususerMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserMode:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:userMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMuserMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMouserMode:de:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeuserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuserMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruserMuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuserMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userModeuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::useuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuserMode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususerMode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserModeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuserMode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMode:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:Mode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModeuseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuserMode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususerMode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserMode::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::ususerMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuserMode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMode:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:seuserMode:rModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserModuserMode:e:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuseuserMode:rMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMode:serMode::userMuserMode:ode:uuserMode:serMode:ususerMode:erModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMouserMode:deuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:userMode:eruserMode:ModeuuserMode:seruserMode:ModususerModuserMode:e:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserModeuserMode::oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseuserMode:ruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:ruserMode:MususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMouserMode:de:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMouserMode:de:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:seruserMode:Mode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuuserMode:suserMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:serMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruserMode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruserMode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruuserMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserMode:oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:userMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:userMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuserMode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuserMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuserMode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususerMode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMode:suserMode:userMode:erMode:MuseruseruserMode:Mode:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:useuserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeususerMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::seruserMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuserMode:rMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususeuserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:uuserMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerMode:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:prususerMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserMode:ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserModuserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:userModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserMode:userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeuserMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:userMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::euserMode:ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:uuserMode:serModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMouserMode:de:oduseususerMuserMode:ode:erMouserMode:de:rMode:e:ModeususerMode:erMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuseruserMode:Mode::Mode::usuuserMode:serModeuserMode::erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuuserMode:serMode:oduseuserMode:rMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuuseruserMode:Mode:serModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserMode:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMouserMode:de:e:e::useuuuuserMode:suserMode:erMode:serMode:serModeuserMode::rMuserMode:oduserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserMouserMode:deuserMode::ModeuserMode::useuuuserMode:suserMode:erMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruserMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuserMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserMode:rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useususerMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*userMode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:userMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususerMode:erMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMouserMode:de:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeuserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuserMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserMode:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruserMuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:Mode:erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userMouserMode:deuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouserMode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususerMode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::userMouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:Mode:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euserMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:Mode:erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuserMode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuserMode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususerMode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:ouserMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuserMode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruserMuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:seuserMode:rModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserModuserMode:e:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:Mode:erModeuseuserMode:rMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMouserMode:de:serMode::userMuserMode:ode:uuserMode:serMode:ususerMode:erModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMouserMode:deuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:userMode:eruserMode:ModeuuserMode:seruserMode:ModususerModuserMode:e:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserModeuserMode::oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseuserMode:ruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:ruserMode:MususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMouserMode:de:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMouserMode:de:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:seruserMode:Mode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuuserMode:suserMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rMode: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuserMode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMode:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouserMode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruserMode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euserModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserMode:oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:userMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuserMode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuserMode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususerMode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluserMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMode:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:useuserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeususerMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odeususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuserMode:rMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususeuserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:uuserMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuserMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:prususerMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserMode:ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserModuserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:de:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserMode:userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeuserMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:userMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::euserMode:ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:ruserMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserMode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:uuserMode:serModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMouserMode:de:oduseususerMuserMode:ode:erMouserMode:de:rMode:e:ModeususerMode:erMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuseruserMode:Mode::Mode::usuuserMode:serModeuserMode::erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuuserMode:serMode:oduseuserMode:rMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:useruserMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuuseruserMode:Mode:serModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserModuserMode:e:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMouserMode:de:e:e::useuuuuserMode:suserMode:erMode:serMode:serModeuserMode::rMuserMode:oduserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserMouserMode:deuserMode::ModeuserMode::useuuuserMode:suserMode:erMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruserMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuserModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserMode:rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useususerMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:userMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuserMode::Mode:_desuserMode:[1userMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususerMode:erMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMouserMode:de:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeuserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuserMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:Mode::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruserMuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruserMode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:Mode:euseruserMode:Mode::userMouserMode:duseruserMode:Mode:e:userMouserMode:deuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserMode:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouserMode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:userMode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuserMode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuserModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuserMode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuserMode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususerMode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:userMode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuserMode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserMode::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:seuserMode:rModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserModuserMode:e:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:userMode:Mode:erModeuseuserMode:rMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMouserMode:de:serMode::userMuserMode:ode:uuserMode:serMode:ususerMode:erModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMouserMode:deuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:userMode:eruserMode:ModeuuserMode:seruserMode:ModususerModuserMode:e:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserModeuserMode::oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseuserMode:ruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:ruserMode:MususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMouserMode:de:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMouserMode:de:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:seruserMode:Mode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuuserMode:suserMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMode:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuserMode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuserMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserMuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruserMode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMouserModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserMode:oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:userMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuserMode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuserMode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:erModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususerMode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:					uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMode:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:useuserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeususerMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMode:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuserMode:rMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususeuserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:uuserMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserMode:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:prususerMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserMode:ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserModuserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserMode:ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserMode:userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeuserMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:userMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMode::euserMode:ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:userMode:ruserMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserMode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:uuserMode:serModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMouserMode:de:oduseususerMuserMode:ode:erMouserMode:de:rMode:e:ModeususerMode:erMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuseruserMode:Mode::Mode::usuuserMode:serModeuserMode::erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuuserMode:serMode:oduseuserMode:rMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:userususerMode:erMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuuseruserMode:Mode:serModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserModuserMode:e:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMouserMode:de:e:e::useuuuuserMode:suserMode:erMode:serMode:serModeuserMode::rMuserMode:oduserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserMouserMode:deuserMode::ModeuserMode::useuuuserMode:suserMode:erMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruserMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserMode:rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useususerMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuserMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:userMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1userMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususerMode:erMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMouserMode:de:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuseruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeuserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuserMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruuserMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruserMuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->ususeruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userMouserMode:duseruserMode:Mode:e:userMouserMode:deuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:euserMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserMode:e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuserMode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:Mode:Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuserMode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuserMode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuserMode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususerMode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuserMode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:seuserMode:rModuserMode:e:Mode:Mode:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserModuseruserMode:Mode:e:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:userMode:Mode:erModeuseuserMode:rMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMouserMode:de:serMode::userMuserMode:ode:uuserMode:serMode:ususerMode:erModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMouserMode:deuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:userMode:eruserMode:ModeuuserMode:seruserMode:ModususerModuserMode:e:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserModeuserMode::oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseuserMode:ruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:ruserMode:MususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMouserMode:de:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMouserMode:de:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:seruserMode:Mode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuuserMode:suserMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euserMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuserMode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:erModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModeuserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruserMode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserMode:rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserMode:oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:userMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuserMode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::useuserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rMode:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususerMode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususerMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMode:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:useuserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeususerMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userMode:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuserMode:rMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMode:de:e::ususeuserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:userMode:uuserMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:prususerMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserMode:ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserModuserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:e:rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserMode:userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeuserMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:userMode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMouserMode:de::euserMode:ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:userMode:ruserMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserMode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:uuserMode:serModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMouserMode:de:oduseususerMuserMode:ode:erMouserMode:de:rMode:e:ModeususerMode:erMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:Mode:userMuserMode:odeuseruserMode:userModeuseruserMode:Mode::Mode::usuuserMode:serModeuserMode::erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMuserMode:ode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuuserMode:serMode:oduseuserMode:rMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:userususerMode:erMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuuseruserMode:Mode:serModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserModuserMode:e:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMouserMode:de:e:e::useuuuuserMode:suserMode:erMode:serMode:serModeuserMode::rMuserMode:oduserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserMouserMode:deuserMode::ModeuserMode::useuuuserMode:suserMode:erMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userModeuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruserMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserMode:rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useususerMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:userMode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1userMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususerMode:erMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMouserMode:de:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeuserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuserMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruserMuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userMode:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuserMode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:MouserMode:de:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userMouserMode:duseruserMode:Mode:e:userMouserMode:deuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserMode:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruserMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuserMode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::userMode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuserMode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMode:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuserMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuserMode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuserMode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususerMode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouserMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %userMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:erMode:Mode:ruserMode:Mode:e:e:uuseuserMode:rMode:serMode:useruseruserMode:uususerMode:erMode:seuserMode:rModuserMode:e:Mode:MouserMode:de:useuseruserMode:Mode:userMode:ruserMode:MouserMode:de:userMode:userMode:userMode:uuserMode:serModeuserMode::userMuseruseruserModuseruserMode:Mode:e:ModeuserMode::Mode:oduserMode:useruseuserMuserMode:oduseruserMode:Mode:e:rMode:MuserMode:ode:e:userMode:userMode:userMode:ususeruserMode:userMode:Mode:erModeuseuserMode:rMode::useuuserMode:serMode:rMouserMode:deuserMode::useruserMode:userMode:ModeuuseuseruserMode:Mode:rMouserMode:de:serMode::userMuserMode:ode:uuserMode:serMode:ususerMode:erModuseuserMode:ruseususerMode:erMode:rMode:Mode:e:useuserMode:rMode:userMouserMode:deuserMode::userMode:userMouserMouseruserMode:Mode:de:de:usususerMode:erMode:userMode:eruserMode:ModeuuserMode:seruserMode:ModususerModuserMode:e:erModeuserMode::e::userMode:userMode:userMode:uuserMode:userModuserMode:e:seruserModeuseruserMode:ModeuserMode:::ModuseruseuserMode:rMuserModeuserMode::oduserMode:e:Mode:e:useuuserMode:serMode:rMode:userMode:userMode:userususerMode:erMode:ModeuseuserMode:rMode::userMuserMode:odeuseuserMode:ruseuserMode:ruserMode:Mode:Mode::useuserMode:rMouserMode:deuserMode::userMode:uuserMode:serMode:uuserMode:serMode:userModuserususerMode:euseruserMode:Mode:ruserMode:MususerMode:eruserMode:Mode:ode:Mode:e:useuseruserMode:Mode:rModeuseruserMuserMode:ode:Mode::useruserMode:ususerModeuserMode::erMode:Mode:ususerMode:erMouserMode:de:useuserMode:rMouserMode:de:uuuserMode:serMode:serModeuserMuserMode:ode::userModuserMode:e:uususerMode:erModeuserMode::serModeuserMode::userModususerMouserMode:de:eruseuseuserMode:rMode:rMuserMode:ode:Mode:e:ususerMode:eruserModeususerMode:erMode::Mode:userMode:userMouserMode:duserMode:e:userMode:usuuserMode:seruserMode:Mode:euuserMode:serModuserModuserMode:e:e:rususeuserMode:rMode:erModuserMode:e::useruserModeuserMode::MuserMode:ode:useuserMode:ruserMode:Mode:pruseruseuuserMode:suserMode:erModuserMode:e:userModuserMode:e:rMuserMode:ode:MouserMode:de:inter_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuserMode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserModuserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruserMode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMode:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserMode:oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:userMode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuserMode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:userModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuserMode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususerMode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMode:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:useuserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeususerMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuserMode:rMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMouserMode:de:de:e::ususeuserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:userMode:uuserMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserMode:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:prususerMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserMode:ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserModuserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMouserMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserMode:userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeuserMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userMode:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useruserMode:Mode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMouserMode:de::euserMode:ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:userMode:ruserMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserMode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:uuserMode:serModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMouserMode:de:oduseususerMuserMode:ode:erMouserMode:de:rMode:e:ModeususerMode:erMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:MuserMode:ode:userMuserMode:odeuseruserMode:userModeuseruserMode:Mode::Mode::usuuserMode:serModeuserMode::erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMuserMode:ode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuuserMode:serMode:oduseuserMode:rMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:userususerMode:erMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuuseruserMode:Mode:serModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserModuserMode:e:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMouserMode:de:e:e::useuuuuserMode:suserMode:erMode:serMode:serModeuserMode::rMuserMode:oduserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserMouserMode:deuserMode::ModeuserMode::useuuuserMode:suserMode:erMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruserMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserMode:rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserMode:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuserMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1userMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususerMode:erMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMouserMode:de:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuserMode:serModeuserMode::userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModeuserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruserMuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMode:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:useruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:MouserMode:de:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userMouserMode:duseruserMode:Mode:e:userMouserMode:deuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouserMode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerMode:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rMode:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userMode:rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserMode:euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouseuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuserMode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuserMode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususerMode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerMode:userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:userususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ount userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModuserMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuserMode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			ususerModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt->jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruserMode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserMode:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouserMode:de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserMode:oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserMode::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuserMode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 57.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::e:ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuserModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususerMode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMode:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:useuserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserMode:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerMode:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserMode:Mode:rMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMouserMode:de:de:e::ususeuserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:userMode:uuserMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rMode:userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:prususerMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserMode:ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserModuserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serMode:ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserMode:userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeuserMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useruserMode:Mode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMouserMode:de::euserMode:ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:userMode:ruserMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserMode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 5userMode:7.3*rt-userModuserMode:e:>userMode:jgoal[1]userMode:uuserMode:serModeusususerMode:erMuserMode:ode:erMuseuserMode:rMode:ode::useruserMode:MouserMouserMode:de:de:uuserMode:seruserMode:Mode:userMode:userModuserMode:e:userMoususerMode:erModuserMode:e:de:useruserMuserMuserMode:ouserMode:de:oduseususerMuserMode:ode:erMouserMode:de:rMode:e:ModeususerMode:erMode::userMode:userMode:userModeuserMouserMode:useuserMode:rMode:duserMode:e::uuserMouserMode:duserMode:euserModuserMode:e::seruserMode:Mode:userMode:uuserMode:suserMode:eruserMode:MuserMode:ode:userMuserMode:odeuseruserMode:userModeuseruserMode:Mode::Mode::usuuserMode:serModeuserMode::erMode:useruseuuserMode:seruserMode:Mode:rMode:userModeuserMode::userMode:Mode:userMode:userMode:userMode:uuserMode:seuseuserMode:userMode:rMode:rMode:useruseruuserMuserMode:ode:seruseruserMode:userMode:ModuseruserMode:Mode:e:ModuserMode:e:Mode:userMode:Mode:userMuuserMode:serMode:oduseuserMode:rMode:e:userModeuserMode::useuserModeuserMode::rMode:uuserMode:seruserModuserMode:e:MuserMode:ode:userModeuseuserMode:rModuserMode:e:userususerMode:erMode:Mode:userMode::uuseuseususeruserMode:Mode:erMode:ruserMode:Mode:rModeuserMode::serMode:userMode:useuseruserMode:Mode:userMode:rMode:useruuuseruserMode:Mode:serModuserMode:e:serModuserMode:e:MouserMode:de:useruserMode:MuserMode:ode:ususerMode:erModuserModuserMode:e:e:ususerMode:erModeuseruseruserMode:Mode:Mode::uuserModeuserMode::serususerMode:erMode:Mode:userMode:useuserMode:rModeususerMode:userModuserMode:e:eruserMuserMode:ode:ModuserModuserMouserMode:de:e:e::useuuuuserMode:suserMode:erMode:serMode:serModeuserMode::rMuserMode:oduserMode:e:useruserMuserMode:ode:Mode:ususeuserMode:rMode:erModeuserMode::ususerMode:erMode:userMode:useuuserMode:seuserMouserMode:de:rMode:rMuserMode:odeuserModuserMode:euserMode::userMode::uuserModeuserMode::seruserMouserMode:deuserMode::ModeuserMode::useuuuserMode:suserMode:erMode:serMode:rMusuuserMode:serMode:userMode:erMouserMode:de:ode:userMode:useuuserMode:seruseruserMode:Mode:ModuserMode:e:rMode:userMode:useruseruseuserMode:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruserMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserMode:rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:de:userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1userMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususerMode:erMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuserMode:oduserMouserMode:de:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserMode:Mode:serModeuserMode::userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruserMuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserMode:ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMouserMode:de:useruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:MouserMode:de:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userMouserMode:duseruserMode:Mode:e:userMouserMode:deuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruserMode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserMode:deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:Mode:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuserMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuserMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuserMode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuserMode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususerMode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerMode:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerMode:erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserMode:serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMode:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuserMode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruserMode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:ususerMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuserMode:e:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouserMode:de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: 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57.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruserMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususerMode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:Mode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMode:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:useuserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:userMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserMode:Mode:rMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMouserMode:de:de:e::ususeuserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:userMode:uuserMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:prususerMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserMode:ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserModuserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserMode:userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useruserMode:Mode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMouserMode:de::euserMode:ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:userMode:ruserMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserMode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruseruserMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruserMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userModeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserMode:rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userMode:userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1userMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususerMode:erMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMouserMode:de:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserMode:Mode:serModeuserMode::userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:],useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruserMuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususerMode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:Mode:e:userModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:useruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:MouserMode:de:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userMouserMode:duseruserMode:Mode:e:userMouserMode:deuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:userModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususerMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuserMode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserMode:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserModuseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:useruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userMode:::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuserMode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuserMode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususerMode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMode:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuserMode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userMode:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuserMuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuserMode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->ususerMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruserMode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuserMode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuserMode:e:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouserMode:de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserMode:oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuserMode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseuserMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususerMode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMode:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserModeuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:useuserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuserMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserMode:Mode:rMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMouserMode:de:de:e::ususeuserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:userMode:uuserMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:prususerMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserMode:ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:userMode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserModuserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususerMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserModeuserMode::userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useruserMode:Mode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMouserMode:de::euserMode:ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:userMode:ruserMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserMode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuserModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruserMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuserMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserMode:odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserMode:rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruserMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1userMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:erMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMouserMode:de:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserMode:Mode:serModeuserMode::userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:userMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruseruserMode:MuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rMode::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:Mode::userModuseruserMode:ModeuserMode::e:userModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:useruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:MouserMode:de:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userMouserMode:duseruserMode:Mode:e:userMouserMode:deuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuserMode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruseruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuseuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEususerMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:Mode:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuserMode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuserMode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususerMode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeuserMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuserMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuserMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuserMode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t->xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userususerModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserMode:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruseruserMode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuserMode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuserMode:e:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouserMode:de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuserMode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMode:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:userMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususeruserMode:Mode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMode:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:useuserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserMode:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserMode:Mode:rMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMouserMode:de:de:e::ususeuserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:userMode:uuserMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMode:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:prususerMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruserModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserMode:ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserModuserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserMode::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususeuserMode:rMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserModeuserMode::userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useruserMode:Mode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMouserMode:de::euserMode:ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:userMode:ruserMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuserMode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruserMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserMode:odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserMode:rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuserMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1userMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMouserMode:de:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserMode:Mode:serModeuserMode::userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:ususerMode:erMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruseruserMode:MuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rModeuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruserMode:Mode:euseruserMode:ModuserMode:e::userModuseruserMode:ModeuserMode::e:userModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:useruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:MouserMode:de:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userMouserMode:duseruserMode:Mode:e:userMouserMode:deuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeuserModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserMode:de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuserMode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserMode::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMode:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:ode::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususerMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMouserModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuserMode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuserMode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususerMode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:e:serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususerMode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuserMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuserMode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuserMode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuserMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMode:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruseruserMode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuserMode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuserMode:e:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouserMode:de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userMode:Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuserMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:ode:userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuserMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususeruserMode:Mode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMode:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:useuserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMode:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserMode:Mode:rMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMouserMode:de:de:e::ususeuserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:userMode:uuserMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:ususerModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:prususerMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserMode:ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserModuserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMode:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserModuserMode:e::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususeuserMode:rMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserModeuserMode::userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useruserMode:Mode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMouserMode:de::euserMode:ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:userMode:ruserMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruserMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMode:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserMode:odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserMode:rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuseruserMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMouserMode:de:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserMode:Mode:serModeuserMode::userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:de:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMuserMode:ode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:ususerMode:erMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruseruserMode:MuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruserMode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::useruserMode:ModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::userModuseruserMode:ModeuserMode::e:userModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:useruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:MouserMode:de:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userMouserMode:duseruserMode:Mode:e:userMouserMode:deuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouserMode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuserMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuserMode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouserMode:deuserModeuserMode::::Mode:userModeuserModuserModeuserModeuserMode:::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMode::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususerMode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:ModuserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:userMode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuserMode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuserMode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususerMode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserMode:serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:userMode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuserMode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuserMode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0ususerMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:ode:useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouserMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, 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userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::seuserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserMode:e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuseuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:ususerMode:euseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususeruserMode:Mode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], 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rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMode:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserMode:Mode:rMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMouserMode:de:de:e::ususeuserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:userMode:uuserMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::userMode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:ouserMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserMode:ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserModuserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruserMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserModuserMode:e::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususeuserMode:rMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserModeuserMode::userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useruserMode:Mode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMouserMode:de::euserMode:ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruserMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMouserMode:de:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserMode:odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserMode:rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduserMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quserMode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMouserMode:de:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserMode:Mode:serModeuserMode::userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMuserMode:ode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuserMode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:duserMode:e:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMuserMode:ode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:ususerMode:erMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruseruserMode:MuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMode:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::userModuseruserMode:ModeuserMode::e:userModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:useruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:MouserMode:de:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userMouserMode:duseruserMode:Mode:e:userMouserMode:deuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:Mode:Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuserMode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rMode:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouseruserMode:Mode:deuserModeuserMode::::Mode:userModeuserModuserModeuserModeuserMode:::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserMode:e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModeuserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuserMode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuserMode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususerMode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:useruserMode:Mode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:serMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuserMode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erModuserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, 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userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserMode:Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:					rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuserMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuserMode:useuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:ususerMode:euseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususeruserMode:Mode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:useuserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerMode:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserMode:Mode:rMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMouserMode:de:de:e::ususeuserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:userMode:uuserMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rMode:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerMode:erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserMode:ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserModuserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:userMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserModuserMode:e::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususeuserMode:rMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserModeuserMode::userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useruserMode:Mode:rModuserMode:euserMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMouserMode:de::euserModeuserMode::ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:serMode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruseuserMode:rMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMouserMode:de:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserMode:odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserMode:rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMode::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMouserMode:de:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserMode:Mode:serModeuserMode::userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:Mode:Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuseruserMode:Mode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:duserMode:e:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMuserMode:ode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:ususerMode:erMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruseruserMode:MuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMode:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::userModuseruserMode:ModeuserMode::e:userModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:useruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:MouserMode:de:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userMouserMode:duseruserMode:Mode:e:userMouserMode:deuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserMode:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuserMode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:ususerMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rModuserMode:e:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouseruserMode:Mode:deuserModeuserMode::::Mode:userModeuserModuserModeuserModeuserMode:::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:Mode:useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt->auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suserMode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuserMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuserMode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuserMode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususerMode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruserMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMuserMode:ouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:useruserMode:Mode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserMode:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserMode:Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuserMode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:e:ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::userMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, 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userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModeuserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuserMode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuseruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususeruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuuserMode:serMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuserMode:useuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:ususerMode:euseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususeruserMode:Mode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:duserMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:useuserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:deuserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserMode:Mode:rMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMouserMode:de:de:e::ususeuserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erMode:uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerMode:erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserMode:ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserModuserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserMode:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserModuserMode:e::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususeuserMode:rMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserModeuserMode::userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:useruserMode:Mode:useruuserMode:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useruserMode:Mode:rModuserMode:euseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMouserMode:de::euserModeuserMode::ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ode:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:seruserMode:Mode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruseuserMode:rMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMouserMode:de:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserMode:odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserMode:rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMouserMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMouserMode:de:e:uuserMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserMode:Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cpp:					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:ModeuserMode::Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuseruserMode:Mode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:duserMode:e:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMuserMode:ode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:ususerMode:erMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruseruserMode:MuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:ModeuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:ModeuserMode::::userMode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::userModuseruserMode:ModeuserMode::e:userModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:useruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:MouserMode:de:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userMouserMode:duseruserMode:Mode:e:userMouserMode:deuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/userMode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:erususerMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:usususerMode:erMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rModuserMode:e:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouseruserMode:Mode:deuserModeuserMode::::Mode:userModeuserModuserModeuserModeuserMode:::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuserMode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suseruserMode:Mode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModeuserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuserMode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuserMode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususerMode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userMode:rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:time - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMuserMode:ouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:useruserMode:Mode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode:::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModuserMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuserMode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuserModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuserMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:euserMode::ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:userMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruseruserMode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuserMode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuserMode:e:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouserMode:de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:odeuserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuserMode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuserMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruseruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususerMode:useruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuuserMode:serMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuserMode:useuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:ususerMode:euseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususeruserMode:Mode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:useuserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserMode:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserMode:euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserMode:Mode:rMode:eruuserModeuserMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MouserMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerMode:erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserMode:ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserModuserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuserMode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserModuserMode:e::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususeuserMode:rMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserModeuserMode::userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserMode:e:useususeuserMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:useruserMode:Mode:useruuserMouserMode:de:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useruserMode:Mode:rModuserMode:euseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMouserMode:de::euserModeuserMode::ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:Mode:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ouserMode:de:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:seruserMode:Mode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruseuserMode:rMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMouserMode:de:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserMode:odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserMode:rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::userMode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:odeuserMode::uuserMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserMode:Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruserMode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:ModeuserMode::Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuseruserMode:Mode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:duserMode:e:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMuserMode:ode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:ususerMode:erMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuserModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruseruserMode:MuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:MouserMode:deuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::userMode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::userModuseruserMode:ModeuserMode::e:userModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:useruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:MouserMode:de:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userMouserMode:duseruserMode:Mode:e:userMouserMode:deuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruserMode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:ususerMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:eruuserMode:suserMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:usususerMode:erMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rModuserMode:e:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouseruserMode:Mode:deuserModeuserMode::::Mode:userModeuserModuserModeuserModeuserMode:::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de:::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuseruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuserModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:userMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suseruserMode:Mode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::userMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuserMode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuserMode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususerMode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerMode:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMuserMode:ouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:useruserMode:Mode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruserModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode::userMode::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:useruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuserMode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuseuserMode:rMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:euserMode::ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:userMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruseruserMode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuserMode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuserMode:e:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouserMode:de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruuserMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:odeuserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuserMode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMode:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruserMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruuserMode:seruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususerMode:useruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuuserMode:serMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuserMode:useuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:ususerMode:euseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususeruserMode:Mode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::ususerModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:useuserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserMode:euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserMode:Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userMode:userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerMode:erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserMode:ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserModuserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edForususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserModuserMode:e::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususeuserMode:rMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserModeuserMode::userMouserMode:de:MouserMode:deuseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserMode:e:useususeuseuserMode:rMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:useruserMode:Mode:useruuserMouserMode:de:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useruserMode:Mode:rModuserMode:euseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMouserMode:de::euserModeuserMode::ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ouserMode:de:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:seruserMode:Mode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruseuserMode:rMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMouserMode:de:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususerMode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserMode:odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserModeuserMode::rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:erMuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:Mode:useruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:odeuserMode::uuuserMode:serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserMode:Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:ModeuserMode::Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuseruserMode:Mode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:duserMode:e:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMuserMode:ode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:odeuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:ususerMode:erMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuseuserMode:rModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruseruserMode:MuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:MouserMode:deuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:ModeuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruserMode:Mode:Mode:ModuseruseruserMode:Mode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::userMode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::userModuseruserMode:ModeuserMode::e:userModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:useruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:MouserMode:de:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userMouserMode:duseruserMode:Mode:e:userMouserMode:deuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouserMode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserMode::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuserMode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:usususerMode:erMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:eruuserMode:suserMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:usususerMode:erMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rModuserMode:e:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouseruserMode:Mode:deuserModeuserMode::::Mode:userModeuserModuserModeuserModeuserMode:::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:Mode:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuserMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuseuserMode:rModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:userMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suseruserMode:Mode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuserMode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuserMode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususerMode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserMode:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMuserMode:ouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:useruserMode:Mode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeuserModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruseruserMode:ModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode::userMode::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:useususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: frususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:ode:ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeuserMode:ususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuseuserMode:rMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:euserMode::ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uuserMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruseruserMode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuserMode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuserMode:e:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouserMode:de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuserModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:odeuserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuserMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuserMode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuserMouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruseuserMode:rMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruuserMode:seruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususerMode:useruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuuserMode:serMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuserMode:useuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:ususerMode:euseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususeruserMode:Mode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], 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rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userMode:useuserMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserMode:Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerMode:erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserMode:ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserModuserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserMode:rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserModuserMode:e::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususeuserMode:rMode:erMode:erMouserMode:duserMode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserModeuserMode::userMouserMode:de:MouserMode:duserMode:euseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserMode:e:useususeuseuserMode:rMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:useruserMode:Mode:useruuserMouserMode:de:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useruserMode:Mode:rModuserMode:euseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMouserMode:de::euserModeuserMode::ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ouserMode:de:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:seruserMode:Mode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruseuserMode:rMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMouserMode:de:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useuserMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserMode:odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserModeuserMode::rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMode:rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMode:e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:Mode:useuserMode:ruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:odeuserMode::uuuserMode:serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserMode:Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuserMode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:ModeuserMode::Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuseruserMode:Mode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:duserMode:e:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMuserMode:ode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:ouserMode:deuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:ususerMode:erMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuseuserMode:rModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruseruserMode:MuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:MouserMode:deuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususerMode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:useruseuseruserMode:Mode:ruseruseuserMode:rMode:Mode:Mode:ModuseruseruserMode:Mode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::userMode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::userModuseruserMode:ModeuserMode::e:userModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:useruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:MouserMode:de:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userMouserMode:duseruserMode:Mode:e:userMouserMode:deuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruserMode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuserMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuserMode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::Mode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:userMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:usususerMode:erMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:eruuserMode:suserMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:usususerMode:erMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rModuserMode:e:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouseruserMode:Mode:deuserModeuserMode::::Mode:userModeuserModuserModeuserModeuserMode:::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuserMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuuserMode:serMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuseuserMode:rModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:userMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suseruserMode:Mode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:userusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuserMode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuserMode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususerMode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserMode:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:userMuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMuserMode:ouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:useruserMode:Mode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserMode:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeususerMode:erModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruseruserMode:ModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode::userMode::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::useruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:odeuserMode::ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeuserMode:ususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuseuserMode:rMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:euserMode::ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerMode:erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, 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userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuserMode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMode::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerMode:erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuseruserMode:MouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruseuserMode:rMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruuserMode:seruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususerMode:useruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuuserMode:serMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuserMode:useuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:ususerMode:euseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususeruserMode:Mode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususerMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserMode:euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:userMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userMode:useuuserMode:serMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserMode:Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserMode:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerMode:erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserMode:ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserMode:rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserModuserMode:e::erMode:Mode:Mode:userMuserModeuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususeuserMode:rMode:erMode:erMouserMode:duseruserMode:Mode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserModeuserMode::userMouserMode:de:MouserMode:duserMode:euseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserMode:e:useususeuseuserMode:rMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:useruserMode:Mode:useruuserMouserMode:de:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useruserMode:Mode:rModuserMode:euseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMouserMode:de::euserModeuserMode::ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:useruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ouserMode:de:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:seruserMode:Mode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruseuserMode:rMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMouserMode:de:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserMode::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useususerMode:erMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserMode:odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserModeuserMode::rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModeuserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouserMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuserMode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:Mode:useuserMode:ruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:odeuserMode::uuuserMode:serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserMode:Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serMode:ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:ModeuserMode::Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuseruserMode:Mode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:duserMode:e:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:userMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMuserMode:ode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:ouserMode:deuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:ususerMode:erMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuseuserMode:rModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruseruserMode:MuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:MouserMode:deuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rModuserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:Mode:Mode:Mode::userMode:userususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:Mode:Mode:ModuseruseruserMode:Mode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::userMode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::userModuseruserMode:ModeuserMode::e:userModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:useruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:MouserMode:de:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userMouserMode:duseruserMode:Mode:e:userMouserMode:deuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuserMode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserMode:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruserMode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserModuseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::MuserMode:ode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:userMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:usususerMode:erMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:eruuserMode:suserMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:usususerMode:erMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rModuserMode:e:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouseruserMode:Mode:deuserModeuserMode::::Mode:userModeuserModuserModeuserModeuserMode:::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModeuserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserMode:e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseuseruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseuserMode:ruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuuserMode:serMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuseuserMode:rModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:userMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suseruserMode:Mode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:userModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuserMode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuserMode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususerMode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMode:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruserMode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMuserMode:ouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:useruserMode:Mode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserMode::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserModuserMode:e:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeususerMode:erModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruseruserMode:ModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode::userMode::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:eruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduseruserMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode:userMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:odeuserMode::ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeuserMode:ususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuseuserMode:rMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:euserMode::ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:userMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruseruserMode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuserMode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuserMode:e:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:Mode:de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:odeuserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:erMode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuserMode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuseruserMode:MouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruseuserMode:rMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruuserMode:seruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususerMode:useruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuuserMode:serMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuserMode:useuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:ususerMode:euseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModeuserModususeruserMode:Mode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserMode:euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:Mode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userMode:useuuserMode:serMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserMode:Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserMode:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerMode:erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMode:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserMode:rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ode: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserModuserMode:e::erMode:Mode:Mode:userMuserMouserMode:deuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususeuserMode:rMode:erMode:erMouserMode:duseruserMode:Mode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserModeuserMode::userMouserMode:de:MouserMode:duserMode:euseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserMode:e:useususeuseuserMode:rMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:useruserMode:Mode:useruuserMouserMode:de:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useruserMode:Mode:rModuserMode:euseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMouserMode:de::euserModeuserMode::ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuserMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ouserMode:de:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:seruserMode:Mode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruseuserMode:rMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:Mode:userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMouserMode:de:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserModeuserMode:::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useususerMode:erMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserMode:odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserModeuserMode::rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuserModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModeuserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuserMode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:Mode:useuserMode:ruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:odeuserMode::uuuserMode:serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserMode:Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:ModeuserMode::Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:Mode:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuseruserMode:Mode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMuserMode:ode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:duserMode:e:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:userMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMuserMode:ode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:ouserMode:deuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:ususerMode:erMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuseuserMode:rModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruseruserMode:MuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:MouserMode:deuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuserModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userModeuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:Mode:Mode:ModuseruseruserMode:Mode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::userMode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::userModuseruserMode:ModeuserMode::e:userModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:useruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:MouserMode:de:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userMouserMode:duseruserMode:Mode:e:userMouserMode:deuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], userMode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuserMode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuserMode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMouserMode:duseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::MuserMode:ode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:userMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:usususerMode:erMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:eruuserMode:suserMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:usususerMode:erMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rModuserMode:e:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouseruserMode:Mode:deuserModeuserMode::::Mode:userModeuserModuserModeuserModeuserMode:::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserMode:Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuserModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseususerMode:eruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseuserMode:ruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuuserMode:serMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuseuserMode:rModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:userMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suseruserMode:Mode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserMode:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuserMode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuserMode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserMode:ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruserMode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMuserMode:ouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:useruserMode:Mode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMouserMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserModeuserMode:::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserModuserMode:e:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeususerMode:erModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruseruserMode:ModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode::userMode::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserMode:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:eruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruserMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:serModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuserMode:ode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode:userMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:odeuserMode::ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeuserMode:ususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuseuserMode:rMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:euserMode::ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserMode:oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, 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userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::Mode:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuserMode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:ode:userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:userMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuseruserMode:MouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruseuserMode:rMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruuserMode:seruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususerMode:useruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuuserMode:serMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuserMode:useuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:ususerMode:euseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerMode:erMode:ode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModuserMode:euserModususeruserMode:Mode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruserMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserMode:euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duserMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userMode:useuuserMode:serMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserMode:Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:Mode:userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerMode:erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserMode:rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserModuserMode:e::erMode:Mode:Mode:userMuserMouserMode:deuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususeuserMode:rMode:erMode:erMouserMode:duseruserMode:Mode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserModeuserMode::userMouserMode:de:MouserMode:duserMode:euseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserMode:e:useususeuseuserMode:rMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:useruserMode:Mode:useruuserMouserMode:de:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useruserMode:Mode:rModuserMode:euseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususerMode:erMouserMode:de::euserModeuserMode::ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ouserMode:de:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:seruserMode:Mode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruserMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruseuserMode:rMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:ModeuserMode::userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMouserMode:de:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserModeuserMode:::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useususerMode:erMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserMode:odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserModeuserMode::rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModeuserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserMode:ode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuserMode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:Mode:useuserMode:ruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:odeuserMode::uuuserMode:serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserMode:Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:ModeuserMode::Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:MouserMode:de:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuseruserMode:Mode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMuserMode:ode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:duserMode:e:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:userMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMuserMode:ode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:ouserMode:deuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:ususerMode:erMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuseuserMode:rModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruseruserMode:MuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:MouserMode:deuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuserMode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::userMode:userMouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:Mode:Mode:ModuseruseruserMode:Mode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::userMode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::useruserMode:ModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::userModuseruserMode:ModeuserMode::e:userModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:useruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:MouserMode:de:userModuseruserMode:ModeuserMode::euseruserMode:Mode::userMouserMode:duseruserMode:Mode:e:userMouserMode:deuseruserMode:ModeuseruseruserMode:Mode:Mode:::useruserMode:MouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::userMode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:useruseruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:Mode:userModeuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e::userMode:userModuseruseruserMode:Mode:Mode:euseruserMode:ModuserMode:e::useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::userMouserMode:de:useruseuseruserMode:ModeuserMode::rModeuserMode::ModeuserModuserMode:euseruserMode:Mode:::userMouserMode:de:useuserMode:rModuseruseruserMode:Mode:Mode:e:userModeuserModuserMode:e::useuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:userMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:Mode::userModuseruseruserMode:Mode:Mode:e:userMode:useuseuserMode:rMode:ruseuseruserMode:ModeuserMode::ruserMode:Mode:Mode:useuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:userModeuserModeuseruseruserMode:Mode:Mode:::useuserMode:rMouserMode:de:useruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:euseruserMode:Mode:::userMouserMode:de:userMode:useuseruseruseruserMode:Mode:Mode:Mode:rModeuserModuserMode:e::useruseuseruserMode:ModeuserMode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuserMode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:Mode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuseruserMode:Mode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMouserMode:duseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::MuserMode:ode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:userMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:usususerMode:erMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:eruuserMode:suserMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:usususerMode:erMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rModuserMode:e:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouseruserMode:Mode:deuserModeuserMode::::Mode:userModeuserModuserModeuserModeuserMode:::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euserMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMode:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseususerMode:eruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseuserMode:ruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuuserMode:serMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuseuserMode:rModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:userMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suseruserMode:Mode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:useuserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuserMode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruserMode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMuserMode:ouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:useruserMode:Mode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMode:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMoususerMode:erMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserModeuserMode:::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserModuserMode:e:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeususerMode:erModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruseruserMode:ModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode::userMode::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuserMode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserModuserMode:e:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:eruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:ill(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuserMode:ode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode:userMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:odeuserMode::ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeuserMode:ususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuseuserMode:rMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:euserMode::ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruseuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserModeuserMode::oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruseruserMode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:Mode:de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:odeuserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:usususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuserMode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMode:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuseruserMode:MouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruseuserMode:rMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruuserMode:seruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususerMode:useruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuuserMode:serMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuserMode:useuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userMode::userMode:ususerMode:euseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerModeuserMode::erMode:ode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModuserMode:euserModususeruserMode:Mode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserMode:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserMode:euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserMode:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userMode:useuuserMode:serMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserMode:Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuserMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:ModeuserMode::userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMode:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerMode:erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserMode:rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserModuserMode:e::erMode:Mode:Mode:userMuserMouserMode:deuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususeuserMode:rMode:erMode:erMouserMode:duseruserMode:Mode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserModeuserMode::userMouserMode:de:MouserMode:duserMode:euseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserMode:e:useususeuseuserMode:rMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:useruserMode:Mode:useruuserMouserMode:de:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useruserMode:Mode:rModuserMode:euseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususeuserMode:rMode:erMouserMode:de::euserModeuserMode::ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ouserMode:de:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:de:userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:seruserMode:Mode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruuserMode:serMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruseuserMode:rMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:ModeuserMode::userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMouserMode:de:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserModeuserMode:::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useususerMode:erMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserMode:odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserModeuserMode::rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModeuserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userMode::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModeuserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useususerMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserMode:ode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuserMode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:Mode:useuserMode:ruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:odeuserMode::uuuserMode:serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:erModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode:userMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:ModeuserMode::Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:MouserMode:de:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuseruserMode:Mode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMuserMode:ode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:duserMode:e:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:userMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMuserMode:ode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:ouserMode:deuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:ususerMode:erMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuseuserMode:rModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruseruserMode:MuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:MouserMode:deuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erModuserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuserMode:serModeuserususerMode:euserMode:rMouserMode:de:MuserMode:ode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuseruserMode:Mode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMouserMode:duseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::MuserMode:ode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:userMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:usususerMode:erMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:eruuserMode:suserMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:usususerMode:erMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rModuserMode:e:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouseruserMode:Mode:deuserModeuserMode::::Mode:userModeuserModuserModeuserModeuserMode:::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMode::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:serMode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMouserMode:de:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseususerMode:eruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseuserMode:ruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuuserMode:serMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuseuserMode:rModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:userMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suseruserMode:Mode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruserMode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMuserMode:ouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:useruserMode:Mode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serMode:userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMouserMode:de:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMoususerMode:erMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserModeuserMode:::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserModuserMode:e:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeususerMode:erModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruseruserMode:ModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode::userMode::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususerMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuseruserMode:Mode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserModuserMode:e:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:eruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuserMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuserMode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::ModeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuserMode:ode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode:userMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:odeuserMode::ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeuserMode:ususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuseuserMode:rMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:euserMode::ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserMode:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruserMode:useuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserModeuserMode::oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:de:userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:Mode:de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:odeuserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserMode:ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususerMode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuserMode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userMode:ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerMode:eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuseruserMode:MouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruseuserMode:rMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruuserMode:seruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususerMode:useruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuuserMode:serMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:userModuserMode:useuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userModuserMode:e::userMode:ususerMode:euseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerModeuserMode::erMode:ode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModuserMode:euserModususeruserMode:Mode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserMode:euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMode:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userMode:useuuserMode:serMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserMode:Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:Mode:userModuseuserMode:rMode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuuserMode:serMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:ModeuserMode::userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruserMouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerMode:erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserMode:rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserModuserMode:e::erMode:Mode:Mode:userMuserMouserMode:deuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususeuserMode:rMode:erMode:erMouserMode:duseruserMode:Mode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserModeuserMode::userMouserMode:de:MouserMode:duserMode:euseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserMode:e:useususeuseuserMode:rMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:useruserMode:Mode:useruuserMouserMode:de:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useuserMode:ruserMode:Mode:rModuserMode:euseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususeuserMode:rMode:erMouserMode:de::euserModeuserMode::ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuseruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ouserMode:de:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:deuserMode::userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:seruserMode:Mode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruuserMode:serMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruseuserMode:rMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:ModeuserMode::userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMouserMode:de:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserModeuserMode:::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useususerMode:erMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserMode:odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserModeuserMode::rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuserMuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userMode::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModeuserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erMode::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserMode:ode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuserMode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:Mode:useuserMode:ruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:odeuserMode::uuuserMode:serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMode:userMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:e::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode:userMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:ModeuserMode::Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:MouserMode:de:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuseruserMode:Mode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMuserMode:ode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:duserMode:e:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:userMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMuserMode:ode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:ouserMode:deuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:ususerMode:erMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuserMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuseuserMode:rModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruseruserMode:MuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMuserMode:ode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:MouserMode:deuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMode:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuseruseuseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userMode:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserMode:de::useruserModuserModuserMode:e:e:ModuserMode:e:uuseuserMode:rMode:serModeuserususerMode:euserMode:rMouserMode:de:MuserMode:ode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuseruserMode:Mode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMouserMode:duseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::MuserMode:ode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:userMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:usususerMode:erMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:eruuserMode:suserMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:usususerMode:erMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rModuserMode:e:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouseruserMode:Mode:deuserModeuserMode::::Mode:userModeuserModuserModeuserModeuserMode:::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erMode:ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruserMode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:seruserMode:Mode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMouserMode:de:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseususerMode:eruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseuserMode:ruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuuserMode:serMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuseuserMode:rModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:userMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suseruserMode:Mode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::userMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:userModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:userMuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruserMode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMuserMode:ouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:useruserMode:Mode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuserMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serModeuserMode::userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMouserMode:de:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMoususerMode:erMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserModeuserMode:::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserModuserMode:e:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeususerMode:erModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruseruserMode:ModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode::userMode::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuseruserMode:Mode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserModuserMode:e:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:eruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModeuserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuserMode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMode:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuserMode:ode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode:userMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:odeuserMode::ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeuserMode:ususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuseuserMode:rMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:euserMode::ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruserMode:useuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserModeuserMode::oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:Mode:de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:Mode:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:odeuserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususerMode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuserMode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rMode:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuseruserMode:MouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruseuserMode:rMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruuserMode:seruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususerMode:useruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuuserMode:serMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:ususerMode:erModuserMode:useuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userModuserMode:e::userMode:ususerMode:euseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerModeuserMode::erMode:ode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModuserMode:euserModususeruserMode:Mode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:userMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserMode:euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userMode:useuuserMode:serMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserMode:Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModuserMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:ModeuserMode::userModuseuserMode:rMode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuuserMode:serMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:ModeuserMode::userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerMode:erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserMode:rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::erMuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserModuserMode:e::erMode:Mode:Mode:userMuserMouserMode:deuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususeuserMode:rMode:erMode:erMouserMode:duseruserMode:Mode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserModeuserMode::userMouserMode:de:MouserMode:duserMode:euseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserMode:e:useususeuseuserMode:rMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:userususerMode:erMode:Mode:useruuserMouserMode:de:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useuserMode:ruserMode:Mode:rModuserMode:euseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususeuserMode:rMode:erMouserMode:de::euserModeuserMode::ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuserMode:useruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ouserMode:de:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:deuserMode::userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:seruserMode:Mode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruuserMode:serMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruseuserMode:rMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:ModeuserMode::userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMouserMode:de:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserModeuserMode:::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useususerMode:erMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserMode:odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserModeuserMode::rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userMode::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModeuserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruserMode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserMode:ode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuserMode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:Mode:useuserMode:ruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserMode:serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMode:userMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode:userMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:ModeuserMode::Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:MouserMode:de:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuseruserMode:Mode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMuserMode:ode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:duserMode:e:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:userMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMuserMode:ode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:Mode:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:ouserMode:deuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:ususerMode:erMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuseuserMode:rMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuseuserMode:rModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruseruserMode:MuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMuserMode:ode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:MouserMode:deuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususerMode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuserMode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:ModeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userMode:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuserModeuserMode::serMouserMode:deuseruserMode:MouserModeuserMode::de::useruserModuserModuserMode:e:e:ModuserMode:e:uuseuserMode:rMode:serModeuserususerMode:euserMode:rMouserMode:de:MuserMode:ode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuseruserMode:Mode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMouserMode:duseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::MuserMode:ode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:userMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:usususerMode:erMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:eruuserMode:suserMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:usususerMode:erMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rModuserMode:e:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouseruserMode:Mode:deuserModeuserMode::::Mode:userModeuserModuserModeuserModeuserMode:::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:Mode:useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuserMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:userMode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruseruserMode:Mode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:seruserMode:Mode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMouserMode:de:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseususerMode:eruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseuserMode:ruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuuserMode:serMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuseuserMode:rModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:userMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suseruserMode:Mode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuserMode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:userMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruserMode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMuserMode:ouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:useruserMode:Mode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userMode:useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuuserMode:serMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serModeuserMode::userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMouserMode:de:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMoususerMode:erMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserModeuserMode:::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserModuserMode:e:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeususerMode:erModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruseruserMode:ModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode::userMode::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_count iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuseruserMode:Mode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserModuserMode:e:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:eruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMode:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModuserMode:euserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuserMode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserMode:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuserMode:ode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode:userMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:odeuserMode::ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeuserMode:ususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuseuserMode:rMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:euserMode::ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::userMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:userMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruserMode:useuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserModeuserMode::oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:Mode:de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuserModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:odeuserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususerMode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuserMode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:inter_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuseruserMode:MouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruseuserMode:rMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruuserMode:seruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususerMode:useruserMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuuseruserMode:Mode:serMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:ususerMode:erModuserMode:useuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userModuserMode:e::userMode:ususerMode:euseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerModeuserMode::erMode:ode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModuserMode:euserModususeruserMode:Mode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:userMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuserMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserMode:euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userMode:useuuserMode:serMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserMode:Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModususerMode:erMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:ModeuserMode::userModuseuserMode:rMode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuuserMode:serMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:ModeuserMode::userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:serMuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerMode:erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserMode:rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserModuserMode:e::erMode:Mode:Mode:userMuserMouserMode:deuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususeuserMode:rMode:erMode:erMouserMode:duseruserMode:Mode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserModeuserMode::userMouserMode:de:MouserMode:duserMode:euseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserModeuserMode::e:useususeuseuserMode:rMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:userususerMode:erMode:Mode:useruuserMouserMode:de:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useuserMode:ruserMode:Mode:rModuserMode:euseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususeuserMode:rMode:erMouserMode:de::euserModeuserMode::ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:userMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuserMode:useruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ouserMode:de:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:deuserMode::userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:seruserMode:Mode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruuserMode:serMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruseuserMode:rMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:ModeuserMode::userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMouserMode:de:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserModeuserMode:::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useususerMode:erMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserModeuserMode::odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserModeuserMode::rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userMode::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModeuserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserMode:ode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuserMode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserMode:serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMode:userMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:Mode::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseuserMode:ruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode:userMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:ModeuserMode::Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:MouserMode:de:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuseruserMode:Mode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMuserMode:ode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:duserMode:e:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMode:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:userMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMuserMode:ode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:ModuserMode:e:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:ouserMode:deuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:ususerMode:erMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuseuserMode:rMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuseuserMode:rModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruseruserMode:MuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMuserMode:ode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:MouserMode:deuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erModuserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:Mode:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deuserMode::Mode::userMuserMode:ode:userModuserMode:e:uuseuserMode:rModeuserMode::serMouserMode:deuseruserMode:MouserModeuserMode::de::useruserModuserModuserMode:e:e:ModuserMode:e:uuseuserMode:rMode:serModeuserususerMode:euserMode:rMouserMode:de:MuserMode:ode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuseruserMode:Mode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMouserMode:duseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::MuserMode:ode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:userMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:usususerMode:erMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:eruuserMode:suserMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:usususerMode:erMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rModuserMode:e:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouseruserMode:Mode:deuserModeuserMode::::Mode:userModeuserModuserModeuserModeuserMode:::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userMode:useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserMode:serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuserMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:useruserMode:Mode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruseruserMode:Mode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:seruserMode:Mode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMouserMode:de:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseususerMode:eruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseuserMode:ruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuuserMode:serMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuseuserMode:rModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:userMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suseruserMode:Mode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModeuserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:useruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:rModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruserMode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMuserMode:ouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:useruserMode:Mode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode:::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuuserMode:serMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serModeuserMode::userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMouserMode:de:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMoususerMode:erMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserModeuserMode:::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserModuserMode:e:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeususerMode:erModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruseruserMode:ModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode::userMode::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userMode:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuseruserMode:Mode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserModuserMode:e:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:eruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userModuseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMouserMode:de:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModuserMode:euserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuserMode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuserMode:ode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode:userMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:odeuserMode::ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeuserMode:ususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuseuserMode:rMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:euserMode::ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserMode:MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::useuserMode:rMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:userMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruserMode:useuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserModeuserMode::oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:Mode:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:Mode:de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserMode:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuserMode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:odeuserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususerMode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euserMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuseruserMode:MouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruseuserMode:rMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruuserMode:seruserMode:Mode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususerMode:useruserMode:userMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuuseruserMode:Mode:serMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:ususerMode:erModuserMode:useuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userModuserMode:e::userMode:ususerMode:euseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerModeuserMode::erMode:ode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModuserMode:euserModususeruserMode:Mode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:userMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserMode:euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userMode:useuuserMode:serMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserModeuserMode::Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModususerMode:erMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:ModeuserMode::userModuseuserMode:rMode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuuserMode:serMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:ModeuserMode::userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seruserMode:MuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerMode:erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserMode:rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserModuserMode:e::erMode:Mode:Mode:userMuserMouserMode:deuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususeuserMode:rMode:erMode:erMouserMode:duseruserMode:Mode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserModeuserMode::userMouserMode:de:MouserMuserMode:ode:duserMode:euseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserModeuserMode::e:useususeuseuserMode:rMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:userususerMode:erMode:Mode:useruuserMouserMode:de:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useuserMode:ruserMode:Mode:rModuserMode:euseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususeuserMode:rMode:erMouserMode:de::euserModeuserMode::ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:userMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuserMode:useruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ouserMode:de:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:deuserMode::userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:seruserMode:Mode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruuserMode:serMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruseuserMode:rMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:ModeuserMode::userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMouserMode:de:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserModeuserMode:::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserMode::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useususerMode:erMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:userMode:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserModeuserMode::odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserModeuserMode::rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userMode::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruserMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModeuserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserMode:ode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMode:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserMode:serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMode:userMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]userMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseuserMode:ruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode:userMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:ModeuserMode::Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:MouserMode:de:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuseruserMode:Mode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserususerMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMuserMode:ode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:duserMode:e:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMouserMode:de:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:userMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMuserMode:ode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:ModuserMode:e:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:ouserMode:deuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:ususerMode:erMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuseuserMode:rMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuseuserMode:rModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruseruserMode:MuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMuserMode:ode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:MouserMode:deuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserMode::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuseruserMode:Mode:::userMode:ususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:Mode:userModuseruserMode:Mode:euseruserModeuserMode::Mode::userModuseruserMode:Mode:e:useruseruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:ModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:ModeuserMode:::ususerMode:erMode:useruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:ususerMode:erModuserMode:euseruserModeuserMode::Mode::userModuserMode:e:ususerMode:eruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode:.cpp:			useuserMode:ruseruserMode:Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				useruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userMode:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deususerMode:erMode::Mode::userMuserMode:ode:userModuserMode:e:uuseuserMode:rModeuserMode::serMouserMode:deuseruserMode:MouserModeuserMode::de::useruserModuserModuserMode:e:e:ModuserMode:e:uuseuserMode:rMode:serModeuserususerMode:euserMode:rMouserMode:de:MuserMode:ode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuseruserMode:Mode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMouserMode:duseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::MuserMode:ode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:userMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:usususerMode:erMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:eruuserMode:suserMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:usususerMode:erMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rModuserMode:e:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouseruserMode:Mode:deuserModeuserMode::::Mode:userModeuserModuserModeuserModeuserMode:::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserMode:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuserModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:useruserususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuseuserMode:rMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:useruserMode:Mode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruseruserMode:Mode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:seruserMode:Mode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMouserMode:de:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseususerMode:eruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseuserMode:ruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuuserMode:serMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuseuserMode:rModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:userMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suseruserMode:Mode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMode:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:ususerMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:ususerModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruserMode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMuserMode:ouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:useruserMode:Mode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:Mode:userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode::userMode::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuuserMode:serMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serModeuserMode::userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMouserMode:de:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMoususerMode:erMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserModeuserMode:::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserModuserMode:e:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeususerMode:erModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruseruserMode:ModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode::userMode::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:userMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuseruserMode:Mode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserModuserMode:e:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:eruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userMouserMode:duseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMouserMode:de:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModuserMode:euserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuserMode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserMode:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuserMode:ode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode:userMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:odeuserMode::ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeuserMode:ususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuseuserMode:rMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:euserMode::ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerMode:erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserModeuserMode::MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::useuserMode:rMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:userMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruserMode:useuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserModeuserMode::oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:Mode:de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerModuserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuserMode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:odeuserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususerMode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:useruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserMode::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuseruserMode:MouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruseuserMode:rMode:Mode:MouserModuserMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruuserMode:seruserMode:MuserMode:ode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususerMode:useruserMode:userMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuuseruserMode:Mode:serMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:ususerMode:erModuserMode:useuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userModuserMode:e::userMode:ususerMode:euseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerModeuserMode::erMode:ode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModuserMode:euserModususeruserMode:Mode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:userMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserMode:euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userMode:useuuserMode:serMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserModeuserMode::Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModususerMode:erMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:ModeuserMode::userModuseuserMode:rMode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuuserMode:serMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:ModeuserMode::userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seruserMode:MuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerMode:erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:serModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserMode:rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserModuserMode:e::erMode:Mode:Mode:userMuserMouserMode:deuserMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususeuserMode:rMode:erMode:erMouserMode:duseruseruserMode:Mode:Mode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserModeuserMode::userMouserMode:de:MouserMuserMode:ode:duserMode:euseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserModeuserMode::e:useususeuseuserMode:rMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:userususerMode:erMode:Mode:useruuserMouserMode:de:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useuserMode:ruserMode:Mode:rModuserMode:euseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususeuserMode:rMode:erMouserMode:de::euserModeuserMode::ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serModuserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:userMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuserMode:useruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ouserMode:de:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:deuserMode::userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:seruserMode:Mode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruuserMode:serMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruseuserMode:rMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:ModeuserMode::userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMouserMode:de:euserMouserMode:duserMode:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserModeuserMode:::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserModeuserMode:::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useususerMode:erMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:userMode:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserModeuserMode::odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserModeuserMode::rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userMode::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserMode:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModeuserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserMode:ode:erMuserMode:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserMode:serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMode:userMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseuserMode:ruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode:userMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:ModeuserMode::Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserMode:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:MouserMode:de:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuseruserMode:Mode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserusususerMode:erMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMuserMode:ode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:duserMode:e:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMouserMode:de:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:userMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMuserMode:ode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:ModuserMode:e:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:ouserMode:deuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:ususerMode:erMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuseuserMode:rMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuseuserMode:rModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruseruserMode:MuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMuserMode:ode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:MouserMode:deuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuserMode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususerMode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:Mode:Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:Mode::userMode:userMode:useruseuserModeuseruseuserMode:ruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deususerMode:erMode::Mode::userMuserMode:ode:userModuserMode:e:uuseuserMode:rModeuserMode::serMouserMode:deuseruserMode:MouserModeuserMode::de::useruserModuserModuserMode:e:e:ModuserMode:e:uuseuserMode:rMode:serModeuserususerMode:euserMode:rMouserMode:de:MuserMode:ode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuseruserMode:Mode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMouserMode:duseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::MuserMode:ode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:userMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:usususerMode:erMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:eruuserMode:suserMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:usususerMode:erMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rModuserMode:e:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouseruserMode:Mode:deuserModeuserMode::::Mode:userModeuserModuserModeuserModeuserMode:::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::ode:i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rMode:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMode:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:userususerMode:erususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuseuserMode:rMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:useruserMode:Mode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruseruserMode:Mode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:seruserMode:Mode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMouserMode:de:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseususerMode:eruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseuserMode:ruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuuserMode:serMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuseuserMode:rModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:userMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suseruserMode:Mode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserMode::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserModuserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:Mode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruserMode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMuserMode:ouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:useruserMode:Mode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMouserMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:ModeuserMode::userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode::userMode::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuuserMode:serMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serModeuserMode::userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMouserMode:de:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMoususerMode:erMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserModeuserMode:::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserModuserMode:e:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeususerMode:erModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruseruserMode:ModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode::userMode::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuseruserMode:Mode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserModuserMode:e:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:eruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMode:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::userMode:de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userMouserMode:duseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMouserMode:de:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModuserMode:euserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuserMode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMouserMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuserMode:ode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode:userMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:odeuserMode::ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeuserMode:ususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuseuserMode:rMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:euserMode::ode:Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerModeuserMode::erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserModeuserMode::MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::useuserMode:rMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:userMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruserMode:useuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserModeuserMode::oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:useuserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:Mode:de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:ouserModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMuserMode:oduserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuserMode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:odeuserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususerMode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMode:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuseruserMode:MouserMode:de:e:userMode:userMode:userMode:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruseuserMode:rMode:Mode:MouserModususerMode:erMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruuserMode:seruserMode:MuserMode:ode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususerMode:useruserMode:userMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuuseruserMode:Mode:serMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:ususerMode:erModuserMode:useuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userModuserMode:e::userMode:ususerMode:euseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerModeuserMode::erMode:ode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModuserMode:euserModususeruserMode:Mode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouseruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:userMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruserMode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserMode:euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rMode:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userModeuserMode::useuuserMode:serMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserModeuserMode::Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModususerMode:erMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:ModeuserMode::userModuseuserMode:rMode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuuserMode:serMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:ModeuserMode::userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMuserMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seruserMode:MuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerMode:erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMode:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserMode:rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:Mode:userMuserMode:odeuserMode:userMode::useuserMode:uuserMode:serMode:rModususerMode:erMode:e:userModeuserMode:useruserMode:ModuserMode:e::userMode:useruserususeruserMode:MouserMode:deuserModuserMode:e::erMode:Mode:Mode:userMuserMouserMode:deususerMode:erMode::ode:userMode:userMode:useruserMode:MouserMode:de:useruserMode:MouserMode:duseuserMode:rMode:e:userMuserususerMode:erMode:Mode:ode:useuserMode:userMode:rModeuserMode::usuuserMode:serMode:userMode:ususeuserMode:rMode:erMode:erMouserMode:duseruseruserMode:Mode:Mode:e:userModeuseruserMode:Mode::userususerMode:erMuserMode:ouseuserMode:rMode:de:userMode:Mode:userMuserMode:ode:uuserModeuserModuserMode:e:userMode::seuserMode:rMode:userMode:userMode:useruuserMode:seruserModeuserMode::userMouserMode:de:MouserMuserMode:ode:duserMode:euseruseuserMode:rMode:Mode::Mode:ususerMode:erModeuserMode::userModeuserMode::userMode:userMode:useruserMode:Mode:userMouserMode:de:useruserMode:userMuserMode:ode:MouserMouserMode:de:de:userMode:userMouserModeususerMode:erMode::duserModeuserMode::e:useususeuseuserMode:rMode:ruserModeuseruserMode:Mode::Mode:erModeuserMode::ruseuserMode:rModuseruserMouuserMode:serMode:de:Mode:e:userMouserMode:de:Mode:ususerMuseuserModeuserMode::rMode:ode:erMode:ususerMode:euserMode:rMode:userModuserMode:e:userususerMode:erMode:Mode:useruuserMouserMode:de:serMuserMode:ouserModeuserMode::de:ModeuserMode::uuserMode:serMode:userMuserMode:ode:userMuserMode:odeuserModuserMode:euserMode:::useuserMode:rMode:useruseruserMode:userMode:Mode:MouserMode:de:userMode:useuserMode:useuserMode:ruserMode:Mode:rModuserMode:euseuserMode:rMode::uuserMode:serMode:userMode:useruserMode:userMode:userMode:MouserModuserMode:e:deuserMode::userMode:userMode:userMouserMuserMode:ode:duserMususerususerMode:erMode:Mode:userMode:erMouserMode:de:ode:e:ususerModeususeuserMode:rMode:erMouserMode:de::euserModeuserMode::ruserMode:MuuserMode:serMode:ode:userModuserMode:e:ususerMode:erMode:useruserMode:Mode:uuserMode:serMode:userMode:uuseuserMode:rModeuserModeuserMode:::userMode:serMode:userMode:userModuserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:userMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuserMode:useruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ouserMode:de:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:deuserMode::userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:seruserMode:Mode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruuserMode:serMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruseuserMode:rMode:MuserMode:ode:rMode::Mode:userModeususerMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:ModeuserMode::userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMouserMode:de:euserMouserMode:duserMouserMode:de:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserModeuserMode:::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserModeuserMode:::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useususerMode:erMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:userMode:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserModeuserMode::odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserModeuserMode::rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userMode::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:ode:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModeuserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserMode:rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserMode:ode:erMuserMouserMode:de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserMode:serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMode:userMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseuserMode:ruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMode:eruseruseuserMode:ruserMode:MuserMode:ode:userMode:Mode:Mode:userModuserModeuserMode:userMode::euseruserMode:Mode::userMode:uuserMode:serModeuseruuserMode:userMode:seruserMode:ModeuserMode::Mode::useruserMuserMode:ode:ModuserMode:euserMode:ususerMode:eruserMode:Mode::userMode:userModeuseruserModuserMode:e:userModuserMode:e:Mode::userMode:useuserMode:rususerMode:eruuserMode:seruserMouserMode:de:Mode:Mode:MouserMode:de:userModeuseruserMode:MouserMode:de::userMode:userModeuseruserMode:Mode::useruseuseruserMode:Mode:ruserMode:Mode:ModeuseuserMode:ruserMode:uuseuserMode:rMode:suserMode:erMode:ModuserMuserusususerMode:erMode:erMode:Mode:ode:e::userModeuserMode::userMode:userModeuseruserMode:Mode::useuserMode:rMode:useruserususerMuserMode:ode:eruserMode:Mode:Mode:Mode:userMuserMode:oduserMode:euseruuserMode:userMouserMode:duserMode:e:serModeuserMode::Mode::userMode:userModeuseruserMode:Mode::useruususerMode:erMode:serMouserMode:de:ModeuseruserMode:Mode::userMode:userModuserMouserMode:de:euserMode:useruserMouserMode:de:userMode:Mode::userMouserMode:userMode:duserMuserMode:ode:e:useruseuserMode:ruseuserMode:ruserMouserMode:de:ModeuseuserMuserMuserMode:ode:ode:rMuserMode:ode::Mode:Mode:userModeuuserMode:suserMode:eruseruserMode:ModuserMode:e:ModeuserMode:::userMuseuserMode:rMode:ode:userModuserMode:euserMode:useuserMode:ruserMode:Mode::useruseuserMode:rMode:MuserMode:ouserMode:deuserMode:useruserMode:MuserMode:odeuserModeuserMouserMode:de::::useruserMode:Mode:ususerMode:erMode:useuseruseuserMode:rMode:userMode:Mode:rModeuserMode::useruseuseuserMode:rMode:rModeuserMode::userMuserModuserMode:e:ode:MuserMode:ode:userModuseruserMode:Mode:euususerMode:erMouserMode:duserMode:e:serMode::useuseuserMode:rModuserMode:e:rModuserMode:e:userMode:useuserMode:ruseruseruseususerMode:erMode:ruseruserMode:MuserMode:ode:Mode:userMode:Mode:Mode:userMode:Mode:userMuserMuserMode:ode:oduserMode:e:useuserMuserMode:ode:rModeuserModeuserMode:userMode:::userMuserMode:ode:useuserModuserMode:e:ruseuserMode:rMuserMode:oduserMode:e:MouserMode:deuserMode::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMode:e:ususerMode:erMuserMode:odeuseruserMode:MuserMode:ode::userMode:userMode:useruseuserModeuseruseuserMode:ruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deususerMode:erMode::Mode::userMuserMode:ode:userModuserMode:e:uuseuserMode:rModeuserMode::serMouserMode:deuseruserMode:MouserModeuserMode::de::useruserModuserModuserMode:e:e:ModuserMode:e:uuseuserMode:rMode:serModeuserususerMode:euserMode:rMouserMode:de:MuserMode:ode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuseruserMode:Mode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMouserMode:duseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::MuserMode:ode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:userMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:usususerMode:erMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:eruuserMode:suserMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:usususerMode:erMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rModuserMode:e:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouseruserMode:Mode:deuserModeuserMode::::Mode:userModeuserModuserModeuserModeuserMode:::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserModeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMouserMode:de:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:userususerMode:erususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuseuserMode:rMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:useruserMode:Mode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruseruserMode:Mode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:seruserMode:Mode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMouserMode:de:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseususerMode:eruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseuserMode:ruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuuserMode:serMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuseuserMode:rModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:userMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suseruserMode:Mode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuserMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerMode:erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:erMode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruserMode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMuserMode:ouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:useruserMode:Mode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMoususerMode:erMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:ModeuserMode::userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode::userMode::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuuserMode:serMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serModeuserMode::userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMouserMode:de:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMoususerMode:erMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserModeuserMode:::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserModuserMode:e:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeususerMode:erModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruseruserMode:ModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode::userMode::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserMode:Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuseruserMode:Mode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserModuserMode:e:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:eruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeuserMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMouserMode:de:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::userMode:de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userMouserMode:duseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMouserMode:de:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModuserMode:euserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuserMode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuserMode:ode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode:userMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:odeuserMode::ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeuserMode:ususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuseuserMode:rMode:ode:userMuserMode:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:euserMode::odeuserMode::Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerModeuserMode::erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserModeuserMode::MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::useuserMode:rMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:userMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruserMode:useuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserModeuserMode::oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:Mode:de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruseuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserMode:e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oususerMode:erModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMuserMode:oduserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuserMode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:odeuserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususerMode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuserModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMuserMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userMode:xuususerMode:erMode:serModuseruserMode:Mode:e:userMouseruserMuuserMode:serModuserMode:e:oduserMode:e:ModeuserMode::duserMode:e:userModuseruserMode:MouserMode:de:e:userMode:userMode:userMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserModuserMode:e:userMode:ode:usuuseruserMode:Mode:serModuserMode:euserMode::erMode:uuserMode:serMode:useruseruseuserMode:rMode:Mode:MouserModususerMode:erMode:e:deuserMode::useuserModeuserMode::useuserMode:rMuserMode:userMode:ode:rMode:userMode:useuserMode:rModuserMode:e:userMode:userModuserMode:userMode:e:userMouuserMode:seruuserMode:seruserMode:MuserMode:ode:ModuserMode:euserMode::de:userModeuserMode::userMode:uuserMode:serMode:useruserMode:Mode:userMode:usususerModeuserMode::erMuserMode:ode:euserMode:rMuserMode:ode:userMode:userMode:ususerMode:useruserMode:userMode:ModuserMode:euuserMode:serMode::erMode:userMode:useuserMode:rususerMode:eruserMouserMode:de:userMode:userMode:userModeuserMode::ModeuseruserMode:Mode::Mode:useruserModeuserMode::Mode:uuuseruserMode:Mode:serMode:serModuserMode:e:userModuserMode:e:useruserMode:ususeruserMode:Mode:erMode:MuserMode:ode:userMode:userMode:userMode:useuseuserMode:rMode:rMode:useruseuserMode:ruserMode:ModuserMode:e:ususerMode:erModuserMode:useuserModuserMode:e:rMode:e:MuseruserMode:Mode:ode:useruserMode:Mode:userMode:ususerModeuserMode:userMode::euserMuserModeuserMode::ode:rMode:userModeuserModuserMode:euserMode::userModuserMode:e::userMode:ususerMode:euseruserMode:Mode:ruseruserMode:ModeuserMode::Mode:userMode:useruserMode:ModuserModeuserMode::e:userMuserMode:ouseruserMode:ModuserMode:e:de:useruserModuserMode:euserMode::MususerModeuserMode::erMode:ode:ususerMode:erMode:uuserMode:seruserMode:Mode:userMode:ususerModuserMode:e:eruuseruseuserMode:rModeuserMode::Mode:serModeuserMode::ModuserMode:euserMode::userMode:ususerModeuserMode::erModeuserModuserMode:euserModususeruserMode:Mode:erModeuserMode::e:::userMouserMode:deuserModuserMode:e::useuserMode:rMode:useruserMode:userMode:Mode:uususerMode:erMode:serModuseruserMouserMode:de:Mode:e:userMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:userMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserMode:euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],userMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rModuserMode:e:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userModeuserMode::useuuserMode:serMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserModeuserMode::Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModususerMode:erMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:ModeuserMode::userModuseuserMode:rMode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuuserMode:serMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:ModeuserMode::userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:ode::userMode:userMode:priuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seruserMode:MuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerMode:erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:serMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMouserMode:de:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserMode:rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userMode:)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serModuserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:userMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuserMode:useruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ouserMode:de:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:deuserMode::userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:seruserMode:Mode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuserMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruuserMode:serMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruseuserMode:rMode:MuserMode:ode:rMode::Mode:userModeusususerMode:erMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:ModeuserMode::userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMouserMode:de:euserMouserMode:duserMouserMode:de:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserModeuserMode:::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserModeuserMode:::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useususerMode:erMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:userMode:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserModeuserMode::odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserModeuserMode::rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserMode:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userMode::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModeuserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuserMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserMode:ode:erMuserMouserMode:de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserMode:serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduserMode:userMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseuserMode:ruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:Mode:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:duseruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserMode:ode:userMouserMode:duseuserModeuserMode::rMouserMode:de:e:ususerMode:erMuserMode:odeuseruserMode:MuserMode:ode::userMode:userMode:useruseuserModeuseruseuserMode:ruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deususerMode:erMode::Mode::userMuserMode:ode:userModuserMode:e:uuseuserMode:rModeuserMode::serMouserMode:deuseruserMode:MouserModeuserMode::de::useruserModuserModuserMode:e:e:ModuserMode:e:uuseuserMode:rMode:serModeuserususerMode:euserMode:rMouserMode:de:MuserMode:ode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuseruserMode:Mode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMouserMode:duseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::MuserMode:ode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:userMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:usususerMode:erMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:eruuserMode:suserMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:usususerMode:erMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rModuserMode:e:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouseruserMode:Mode:deuserModeuserMode::::Mode:userModeuserModuserModeuserModeuserMode:::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:ode:/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserMode:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::ruseruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMouserMode:de:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMouserMode:de:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:userususerMode:erususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuseuserMode:rMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:useruserMode:Mode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruseruserMode:Mode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:seruserMode:Mode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMouserMode:de:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseususerMode:eruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseuserMode:ruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuuserMode:serMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuseuserMode:rModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:userMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suseruserMode:Mode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeuserModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:userModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ode:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruserMode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMuserMode:ouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:useruserMode:Mode:userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e:userMode::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMoususerMode:erMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:ModeuserMode::userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode::userMode::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuuserMode:serMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serModeuserMode::userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMouserMode:de:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMoususerMode:erMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserModeuserMode:::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserModuserMode:e:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeususerMode:erModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruseruserMode:ModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode::userMode::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userMode:serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuseruserMode:Mode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserModuserMode:e:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:eruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruserModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeususerMode:erMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMouserMode:de:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::userMode:de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userMouserMode:duseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMouserMode:de:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModuserMode:euserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuserMode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModeuserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuserMode:ode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode:userMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:odeuserMode::ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeuserMode:ususerMode:erMode::ususerMouserMode:de:userMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuseuserMode:rMode:ode:userMuserModuserMode:e:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:euserMode::odeuserMode::Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerModeuserMode::erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserModeuserMode::MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::useuserMode:rMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:userMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruserMode:useuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserModeuserMode::oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:serMode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, 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userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususerMode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::useruserMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rMode:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[userMode:userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserModeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:userMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuserModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserMode:euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rModuserMode:e:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userModeuserMode::useuuserMode:serMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserModeuserMode::Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModususerMode:erMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:ModeuserMode::userModuseuserMode:rMode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuuserMode:serMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuserModeuserMode::e:ModeuserMode::userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:odeuserMode:::userMode:userMode:priuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seruserMode:MuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerMode:erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:suserMode:erMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMouserMode:de:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserMode:rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMode:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serModuserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:userMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuserMode:useruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ouserMode:de:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:Mode::useruserMode:MouserMuserMode:ode:deuserMode::userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:seruserMode:Mode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuuserMode:serMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruuserMode:serMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruseuserMode:rMode:MuserMode:ode:rMode::Mode:userModeusususerMode:erMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:ModeuserMode::userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMouserMode:de:euserMouserMode:duserMouserMode:de:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserModeuserMode:::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserModeuserMode:::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useususerMode:erMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:userMode:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserModeuserMode::odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserModeuserMode::rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuserMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userMode::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModeuserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserMode:ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserMode:ode:erMuserMouserMode:de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserMode:serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:userMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseuserMode:ruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususerMode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:Mode:e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruserMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruseruuserMode:seruserMode:Mode:Mode:MuserModeuserMode::ode:userMouserMode:duseuserModeuserMode::rMouserMode:de:e:ususerMode:erMuserMode:odeuseruserMode:MuserMode:ode::userMode:userMode:useruseuserModeuseruseuserMode:ruserMode:Mode:Mode::rMode:ModeuseruserMouserMode:deususerMode:erMode::Mode::userMuserMode:ode:userModuserMode:e:uuseuserMode:rModeuserMode::serMouserMode:deuseruserMode:MouserModeuserMode::de::useruserModuserModuserMode:e:e:ModuserMode:e:uuseuserMode:rMode:serModeuserususerMode:euserMode:rMouserMode:de:MuserMode:ode::userMode:userModuserMode:e:ususerModeuseruserMode:ModeuseruserMode:Mode:::eruseruseruserMode:ModuserMode:e:Mode:Mode:userModuserMouserMode:duseruserMode:Mode:e:e:userModeususerMode:eruserModeuserMode::MuserMode:ode::userMode:userMode:useruuserMode:suserMode:euserMode:rMode:userMode:ModeususerMode:eruserMouserMode:de:Mode::userMuserMode:ode:usususerMode:erMode:erModuserMode:e:userMouseuserMode:rMode:deususerMode:eruuserMode:suserMode:erMode:Mode::useruserMode:ModususerMode:erMode:e:usususerMode:erMode:erModeuserususerMode:erModuserMode:e:ModuseuserMode:rModuserMode:e:e::userMode:userModuserMode:e:useruuserMode:serModeuserMouseruserMode:Mode:deuserModeuserMode::::Mode:userModeuserModuserModeuserModeuserMode:::eususerMode:erMode:::userMode:useuserMode:rMode:uuserMode:seruserMode:useruseuserModuserMode:e:rMouserMode:deuserMode::Mode:MouserModuserMode:e:de:useuserMode:rMode:userMode:uuserMode:serModeuserMouserModeuserMode::deuserMode:::ususerMode:erMode:userMode:useuserMode:rususerModuserMode:e:erMouserMode:de:MuserMode:odeuserModeususerMode:erMode:::useruserMode:Mode:useuserModeuserMode::rMode:userModeususeruseruserMode:ModeuserMode::Mode:erModuserMode:euserMode:::useruserModeuserMode::Mode:useruserMode:Mode:userModeuseuseuserMode:rModeuserMode::rModeuserMode:::useruserMode:MouseuserMode:rMode:de:useuserMode:rMode:useruuserMode:seruserMuserMode:odeuseuserModeuserMode::rMode::ModuserMode:e:0*(qgoaluserMode:[userMode:i]userModeuserMode:: - userMode:userModeuserModeuseuserMode:rMouserMode:de:::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:rModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:oduserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::rususerMode:eruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMouserMode:de:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMouserMode:de:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:userususerMode:erususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuseuserMode:rMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:useruserMode:Mode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruseruserMode:Mode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:seruserMode:Mode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMouserMode:de:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseususerMode:eruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseuserMode:ruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuuserMode:serMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuseuserMode:rModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:userMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suseruserMode:Mode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:useuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:de:erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruserMode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMuserMode:ouserMode:de:ode:ruserMouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:useruserMode:ModeuserMode::userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e:userMode::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMoususerMode:erMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:ModeuserMode::userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode::userMode::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuuserMode:serMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serModeuserMode::userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMouserMode:de:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMoususerMode:erMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserModeuserMode:::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserModuserMode:e:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeususerMode:erModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruseruserMode:ModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode::userMode::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:serModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuseruserMode:Mode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserModuserMode:e:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:eruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMode:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruseuserMode:rModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeususerMode:erMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMouserMode:de:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::userMode:de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userMouserMode:duseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMouserMode:de:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModuserMode:euserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuserMode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMode:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuserMode:ode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode:userMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:odeuserMode::ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uuserMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeuserMode:ususerMode:erMode::ususerMouserMode:de:uuserMode:serMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuseuserMode:rMode:ode:userMuserModuserMode:e:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:euserMode::odeuserMode::Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerModeuserMode::erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserModeuserMode::MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::useuserMode:rMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:userMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruserMode:useuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserModeuserMode::oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, 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5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:userMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserMode:euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serMode:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rModuserMode:e:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userModeuserMode::useuuserMode:serMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserModeuserMode::Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModususerMode:erMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:ModeuserMode::userModuseuserMode:rMode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuuserMode:serMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuuserMode:serModeuserMode::e:ModeuserMode::userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:odeuserMode:::userMode:userMode:priuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seruserMode:MuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuseuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerModeuserMode::erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:suserMode:erMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMouserMode:de:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserMode:rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserMode:rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serModuserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:userMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:userMode:e:rMuserMode:odeuserMode:useruserMode:MouserMode:duserMode:e::userususerMode:erMode:MuserMode:ode:useruseuserMuserMode:ouserMode:de:rMode:MuserMode:ouuserMode:serMode:de:userMode:useuserMode:rModeuserMode:uuserMode:seususerMode:erMode:ruserMode:userMode:Mode::useruserMode:MouserMuserMode:ode:deuserMode::userMode:userModeuserModeuseuseruserMode:Mode:rMode::userModeuserMode:::uuseuserMode:rModeuuserMode:seruserMode:Mode::seruseruserMode:MuserMode:odeuseuserMode:rMode:userMouserMode:deuuserMode:serMode:::MuserMode:ode:userModeuserMode::userModuseruserMode:userMode:Mode:e:useuseruuserMode:serMode:Mode:rMode:userModeuserMode::uuseruserMode:Mode:serMode:useruuserMode:seruserMode:ModeuseuseruseuserMode:rMode:MuserMode:ode:rMode::Mode:userModeusususerMode:erMuserMode:ode:erMode::useuuserMuserMode:ode:suserMode:erMode:userMode:rMouserMode:de:userususerMode:erMode:ModeuserMode::userModususerMode:erMouserMode:duserMode:e:e:useruserModeuserModeuserModuserMode:euserMode::::ModuserMouserMode:de:euserMouserMode:duserMouserMode:de:euserMode:::userMode:useruserMouserMode:deuserMode::Mode:userModeuuserMode:serModeuserMode::useuserMode:rMode::uuserModeuserModeuserMode:::suserMouserMode:de:erMode:useususerMode:erMuserMode:ode:ruseruuserMouserMode:de:seuserMode:ruserMode:MuserMode:ouserModeuserModeuserMode:::deuserMode::ModuserMode:e:Mode:userMouserModeuserMode::de:userMode:uuserMode:serMode:userModeuuserMode:serMode::useuserModuserMode:e:useususerMode:erMode:rMode:ruseuserMode:rMode:Mode:userMode:uuserMode:serMuserMode:ode:ususerMode:euserMode:userModuseuserMode:rMode:e:userMode:rMouseuserMode:rModuserMode:e:de:useruseuserModeuserMode::rMode:ModeuserMode:userMouserMode:deuserMode:::userMuserMode:ode:userMode:useuserModeususeruserMode:Mode:euserMode:rMode::rususerMuserMode:ode:erMode:userMouserMode:de:ModeuserMode::ter_org.cpp:					userMuserModeuserMode::odeuuserMode:serMode::userMode:	5userMouserMode:deuserMode:userMode::7.3*ruserMuserMode:ode:t->jgouserModeuserMode::al[3], 57userMouseuserMode:rMouseuserModeuserMode::rMode:de:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuseuserMode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userMode::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModeuserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserMode:ode:erMuserMouserMode:de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MuserMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:userMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:eruseuserMode:ruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModeuserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:ususerModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserMode:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:ouserMode:duserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::rususerMode:eruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMouserMode:de:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMouserMode:de:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:userususerMode:erususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuseuserMode:rMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:useruserMode:Mode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruseruserMode:Mode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:seruserMode:Mode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMouserMode:de:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseususerMode:eruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseuserMode:ruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuuserMode:serMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuseuserMode:rModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:userMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suseruserMode:Mode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::useruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserMode::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruserMode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMode:erMode:thuserModeuserMode::e trajuserMode:euserMode:ctouserMuserMuserMode:ouserMode:de:ode:ruseruserMode:MouseruserMode:Mode:de:y suserModeuserMode::tauserMode:userMouserMode:duseuserMode:rMode:e:useruserMode:ModeuserMode::userMode:usuuserMode:suuserMode:serModuserMode:e:erMode:erMode:userMode:userModeuseruserMode:ModuserMode:e:userMode::uuseuserMode:ruseususerModeuserMode::erMode:rMode:ModeuserMode::serMuserMode:oduserMode:userMode:e:userMoususerMode:erMode:de:useuserModeususerMode:erMode::rMode:ususerMode:erususeuserMode:ruserMode:Mode:erMode:userMode:ModeuserMode::userMuserMode:ode:useuserMode:rModeuuseruserMode:Mode:suseruserMode:ModuserModeuserMode::e:erModeususerMode:erMode::userMode::uuserMode:serMouserMuseruserMode:Mode:oususerModeuserMode::erMode:de:de:userMode:ususerMode:erMode:userMode:userModeuserMode::useruserMuserMode:ode:Mode:useuserMode:rMode:uuserMode:useuserMode:rususerMode:erMode:userMode:MuserMode:ode:seruseuuserMode:serMode:ruseuserMode:rMode:userModuseuserMode:rMouserMode:de:e:Mode:userMode:Mode:ususerMode:erMode:uuserMode:serModeuserMode::userMuserMode:ode:userModeuseruserMode:MususerMode:euserMode:rMuserMode:ode:userMode:ode::uuseruserMode:Mode:suserMouserMode:de:erModuserMode:e:userMouseruserMode:ModeuserMode::deuseruserMode:Mode::userMode:useruserMode:Mode:userMode:ususerMode:erMoususerMode:erMode:deuserMode::userModuserMode:e:useuserMode:ruserMouseruserMuseruserMode:Mode:oususerMode:erMode:deuserMode::ModeuserModeuserMode:::de:ModuserMode:e:userMouseuserMode:rMouserMode:de:userMode:deuserMode:userMode::usususerMode:erMode:erMuserMode:oduseuserModuserMode:e:rMode:e:userMode:userMode:userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:ModususeruserMode:Mode:erModeususerMode:erModeuserMode:::euserModuseruserModeuserMode::MouserMode:de:e::userMode:ususerMuserMouserMode:de:ode:erModeuserMode::useruseruserMode:ModuserMode:e:3dof-useuserMode:rMuserMode:odeususeruseruserMode:userMode:MuserMode:ode:Mode:erMuserMode:oduserMode:euserMode::userMode::>setuserMode:LouserMode:adTorquseruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuseruserMode:Mode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserModuserMode:e:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:eruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMouserMode:de:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruseuserMode:rModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeususerMode:erMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMouserMode:de:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::userMode:de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userMouserMode:duseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMouserMode:de:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModuserMode:euserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuserMode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuserMode:ode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode:userMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerMode:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:odeuserMode::ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uususerMode:erMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeuserMode:ususerMode:erMode::ususerMouserMode:de:uuserMode:serMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuseuserMode:rMode:ode:userMuserModuserMode:e:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:euserMode::odeuserMode::Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerModeuserMode::erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserModeuserMode::MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::useuserMode:rMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:userMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruserMode:useuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserModeuserMode::oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:de:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerMode:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouseruserMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:ModeuserMode::de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruuserMode:seuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserModeuserMode::e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oususerMode:erModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMuserMode:oduserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuserMode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:odeuserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususerMode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserModeuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserMode:e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:de::userModuseruserMode:Mode:e:useruserMode:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserModuserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:userMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduserMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserMode:euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduserMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rModuserMode:e:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userModeuserMode::useuuserMode:serMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserModeuserMode::Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModususerMode:erMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:ModeuserMode::userModuseuserMode:rMode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuuseruserMode:Mode:serMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuuserMode:serModeuserMode::e:ModeuserMode::userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:odeuserMode:::userMode:userMode:priuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seruserMode:MuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:userMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuserMode:useuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerModeuserMode::erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:suserMode:erMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMouserMode:de:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserMode:rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::userMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serModuserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:userMuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuseuserMode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userMode::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModeuserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuserMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserMode:ode:erMuserMouserMode:de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouserMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:userMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruserModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuserMode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuserMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruserMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuserMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserMode:ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserModuserMode:e:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:ouserMode:duserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::rususerMode:eruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMouserMode:de:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMouserMode:de:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:userususerMode:erususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuseuserMode:rMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:useruserMode:Mode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruseruserMode:Mode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:seruserMode:Mode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMouserMode:de:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseususerMode:eruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseuserMode:ruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuuserMode:serMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuseuserMode:rModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:userMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suseruserMode:Mode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerMode:euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruserMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususerMode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruserMode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:e:userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuseruserMode:Mode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserModuserMode:e:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:eruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMode:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:userMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMouserMode:de:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruseuserMode:rModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeususerMode:erMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMouserMode:de:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::userMode:de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userMouserMode:duseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMouserMode:de:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModuserMode:euserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuserMode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erMode:serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuserMode:ode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:userMode::userMouserMode:deuserMode:userMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerModuserMode:e:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:odeuserMode::ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uususerMode:erMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeuserMode:ususerMode:erMode::ususerMouserMode:de:uuserMode:serMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuseuserMode:rMode:ode:userMuserModuserMode:e:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:euserMode::odeuserMode::Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerModeuserMode::erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserModeuserMode::MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::useuserMode:rMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:userMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruserMode:useuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserModeuserMode::oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rMode:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, 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5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouserModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:userMode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuserMode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserMode:euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouserMode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rModuserMode:e:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userModeuserMode::useuuserMode:serMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserModeuserMode::Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModususerMode:erMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:eruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:ModeuserMode::userModuseuserMode:rMuserMode:ode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuuseruserMode:Mode:serMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuuserMode:serModeuserMode::e:ModeuserMode::userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:odeuserMode:::userMode:userMode:priuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seruserMode:MuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMuserMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:useuserMode:rMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuserMode:useuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerModeuserMode::erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:suserMode:erMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMouserMode:de:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserMode:rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uususerMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serModuserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuserMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuseuserMode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userMode::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModeuserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserMode:ode:erMuserMouserMode:de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5useruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:userMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:userMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususerMode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuserMode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:Mode:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuserMode:e:ModuserMode:e:userMode:userMode:uuserMode:seuseruserModeuserMode::ModeuserMode::userModeuserMode::rMode:useruseruserMuseruserModuserMode:e:Mode:oduseuserMode:rMode:e:Mode:MususerMode:erMouserMode:de:ouserMode:duserMuserMode:ode:e:userMode:userMode:useuserModeuserModeuserMode:::rususerMode:eruseuserMode:rModeuserMode::Mode:Mode:useruseruseruserMode:ModuseuserMouserMode:de:rMode:e:Mode:ModuseruserMode:Mode:e:userMuserMode:oduserMode:e:userMouserMode:de:useuserModeususeruseruserMode:Mode:ModuserMode:e:erMode::rMode:userususerMode:erususerMode:erModuuserMode:seuserMode:rMode:e:Mode:ModuseruserMode:Mode:e:useuseuserMode:rMode:rMode:userMode:useuuseruserMode:Mode:sususerMode:erMode:erModeuserMode:useruserMode:Mode::rMode:useruseruserModuserMouserMode:de:e:MuserMode:ouserMode:de:ModuseruseruserMode:Mode:Mode:userMode:e:useruseruserMode:Mode:Mode:userMode:useuserModeuuserMode:seruserMode:Mode::rMuserMouserMode:de:oduserMode:e:useruseruserModuserMode:e:Mode:ModususerMouserMode:de:erMouseruserMode:ModeuserModeuserMode:::de:e:uuserMouserMode:de:serMode:userMode:useuseuserMode:rModeuserMode::rMode:useruseruserMouserMouserMode:de:duserMouserMode:de:euserMode::MouseususerMode:eruserMode:Mode:rMode:de:ModususerMode:erMode:e:ususerMode:erMode:userMode:useuserModeuuseuserMode:ruserMode:Mode:serMode::rMode:useruserususerMode:erMuseruseuserMode:rMode:Mode:oduserModeuuserMode:serMode::e:Mode:ModuserMode:userMuserMode:ode:e:userMode:userMode:ususerMode:erMode:useuseuserMode:rModeuserModeuserMode:::ruseruserModeuserMode::Mode:Mode:useuserMode:ruseruseuserMode:rModuserMode:userMode:e:Mode:ModuserModuserMode:e:e:userMode:userModuserMode:e:uuserModeuserMode::suseruserMode:Mode:euuseruseruserMode:Mode:Mode:serModeuserMode::rMode:useruseruserModuuserMode:serMode:userMode:e:ModuserMode:e:ModuserMode:e:uuserMode:serMuserModuserMode:e:ode:useruseruserMode:Mode:MouserMode:duserMode:e:ususerMode:euserModeuserModuserMode:e::rMode:useruseruserModuserMode:e:MoususeuserMode:rMode:erMode:de:tciuseruserMode:Mode:userMode:scharsuseruserMode:Mode:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ususerMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruserMode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuseruserMode:Mode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserModuserMode:e:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:eruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userModuserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMouserMode:de:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:userMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMouserMode:de:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruseuserMode:rModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeususerMode:erMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMouserMode:de:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::userMode:de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userMouserMode:duseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMouserMode:de:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModuserMode:euserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuserMode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuserMode:ode:ode:1]useruseuserMode:userMode:rModuserMode:e:Mode:ususerModuserMode:e:useuserMode:rMode:eruserMode:ModeuserMode:useruserMode:Mode::userMouserMode:deuserMode:userMode::userMode:userMouseruserMode:Mode:de:useruuserMode:serMode:Mode:uuserMode:seususerModuserMode:e:erMode:rMode:useuuserMode:serMode:rMode:useruserMode:MuserMode:odeuserMode::ususerMode:eruserModeuserususerMode:erMode:Mode::Mode:uususerMode:erMode:seruseuserModeuserMode::rMode:MouserMode:duserMouserMode:de:e:userMode:userMode:userModeuserMode:ususerMode:erMode::ususerMouserMode:de:uuserMode:serMode:erMuserMode:ode:userMode:useruseruserMode:Mode:MouserMode:de:uuuserMode:seuserMode:rMode:seuserMode:rMuseuserMode:rMode:ode:userMuserModuserMode:e:ouserMode:duserMode:e:useruserModeuserMode::Mode:useuserModuserMode:e:ruserMuserMode:useruserMode:ModuserMouserMode:duserMode:e:euserMode::odeuserMode::Mode:uuserMode:serMode:userModuserModeuseuserModeuserMode::rMuserMode:ode::e:userMode:useruseruserMode:ModuseruserMode:Mode:e:Mode:usususerModeuserMode::erMouserMode:duserMode:e:erModeuseruserModuserMode:e:ModeuserMode:::userMuserMode:ouserMode:de:uuserMode:seuserMode:rMuserModeuserMode::ode:useruserModeuserMode::MuserMode:odeuserMode::useruserMode:ModuseruserMode:Mode:e:useruserMuserMode:ode:Mode:userMouserMode:de:useuserModuserMode:e:rModeususerMode:erMode::useuserMode:rMuserMode:ode:useruseuuserMode:serMode:rMode:MouserModuserMode:e:deuserModeuserMode:::userMode:usuuserMode:serMode:erMode:userMode:ususerMode:euserMode:userMode:rModeuseuserMode:rMode::userusususerMode:erModususerMode:erMode:e:erMode:MuserMuseuserMode:rMode:useruserMode:Mode:ode:oduserMode:e:userMode:userMuserModuserMode:e:ode:useruserMode:Mode:userMode:userModeuserMode::useruseruserMode:ModeuserMouserModuserMode:e:duserMode:e::Mode:useruserMode:ModuseruserMode:Mode:euseruserMode:useuserMode:rMode:ModuseruseruserMode:Mode:Mode:e:userMode::useuserMode:rMode:userMode:ususerMode:eruserMuserMode:ode:org.cppususerMode:erMode::					userMuserModeuserMode::oduuserMode:serMode:e:	57.3*userMuserMode:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserMode:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerModuserMode:e:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouserususerMode:erMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:ModeuserMode::de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruuserMode:seuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserModeuserMode::e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oususerMode:erModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMuserMode:oduserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuserMode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:odeuserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruserMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususerMode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeuserModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserMode::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMode:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuserMode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserMode:euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rModuserMode:e:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userModeuserMode::useuuserMode:serMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserModeuserMode::Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erModeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModususerMode:erMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:euserMode:ruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:ModeuserMode::userModuseuserMode:rMuserMode:ode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuuseruserMode:Mode:serMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuuserMode:serModeuserMode::e:ModeuserMode::userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:odeuserMode:::userMode:userMode:priuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seruserMode:MuserMouserMode:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMususerMode:erMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:useuserMode:rMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuserMode:useuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerModeuserMode::erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:suserMode:erMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMouserMode:de:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserMode:rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serModuserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuseuserMode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userMode::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:userMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModuserMode:euserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserMode:ode:erMuserMouserMode:de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMuserMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5ususerMode:eruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:userMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erModuserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::Mode::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModeuserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:Mode:serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMode:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::userMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:Mode:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruserMode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::					userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuseruserMode:Mode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserModuserMode:e:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:eruserMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMouserMode:duserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMouserMode:de:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:userMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMouserMode:de:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruseuserMode:rModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeususerMode:erMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMouserMode:de:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::userMode:de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userMouserMode:duseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMouserMode:de:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModuserMode:euserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuserMode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:a_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:erMouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserModuserMode:e:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerModuserMode:e:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouserususerMode:erMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:ModeuserMode::de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruuserMode:seuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserModeuserMode::e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oususerMode:erModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMuserMode:oduserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuserMode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:odeuserMode::userMode:,userModeuserMode:: 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rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuserMode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rMode:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rModuserMode:e:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userModeuserMode::useuuserMode:serMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:rMode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserModeuserMode::Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erMuserMode:odeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModususerMode:erMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:euserMode:ruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:ModeuserMode::userModuseuserMode:rMuserMode:ode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuuseruserMode:Mode:serMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuuserMode:serModeuserMode::e:ModeuserMode::userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:odeuserMode:::userMode:userMode:priuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:de::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seruserMode:MuserMouserMouserMode:de:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMususerMode:erMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:useuserMode:rMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuserMode:useuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerModeuserMode::erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:suserMode:erMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMouserMode:de:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserMode:e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serModuserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuseuserMode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userMode::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModuserMode:euserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserMode:ode:erMuserMouserMode:de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5ususerMode:eruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:userMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:userMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruserMode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMode:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMode:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuserMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMode:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserMode:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruserMode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userMode:uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuseruserMode:Mode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserModuserMode:e:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::Mode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:erususerMode:erMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMouserMode:duserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMouserMode:de:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:userMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMouserMode:de:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruseuserMode:rModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeususerMode:erMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMouserMode:de:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::userMode:de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userMouserMode:duseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMouserMode:de:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModuserMode:euserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuserMode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usususerMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:eruserMode:MouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserModuserMode:e:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerModuserMode:e:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouserususerMode:erMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:ModeuserMode::de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruuserMode:seuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserModeuserMode::e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oususerMode:erModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMuserMode:oduserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuserMode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:odeuserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMoususerMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:userususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt->ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuserMode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:suserMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rModuserMode:e:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userModeuserMode::useuuserMode:serMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:ususerModuserMode:e:erModeuserMode:userMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:ruserMode:Mode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserModeuserMode::Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erMuserMode:odeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModususerMode:erMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:euserMode:ruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:ModeuserMode::userModuseuserMode:rMuserMode:ode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuuseruserMode:Mode:serMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuuserMode:serModeuserMode::e:ModeuserMode::userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:odeuserMode:::userMode:userMode:priuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userMode:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:duserMode:e::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seruserMode:MuserMouserMouserMode:de:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMususerMode:erMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:useuserMode:rMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuserMode:useuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerModeuserMode::erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:suserMode:erMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMouserMode:de:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruserMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serModuserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuseuserMode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userMode::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserMode:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModuserMode:euserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuserMode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserMode:de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5ususerMode:eruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:userMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususerMode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserMode:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususerMode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userModeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:Mode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModuseuserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:serMode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserMode:odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMode::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruserMode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode:::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userModeuserMode::uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuseruserMode:Mode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserModuserMode:e:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userModeuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::MuserMode:ode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:erususerMode:erMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMouserMode:duserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMouserMode:de:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:userMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMouserMode:de:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruseuserMode:rModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeususerMode:erMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMouserMode:de:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::userMode:de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userMouserMode:duseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMouserMode:de:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModuserMode:euserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuserMode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserusuuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMode:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:erMode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:eruserMode:MouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserModuserMode:e:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerModuserMode:e:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouserususerMode:erMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:ModeuserMode::de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruuserMode:seuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserModeuserMode::e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oususerMode:erModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMuserMode:oduserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuserMode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userMode:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMode:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserMode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:userususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:						userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuserMode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uuserModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rModuserMode:e:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userModeuserMode::useuuserMode:serMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:usuuserMode:serModuserMode:e:erModeuserMode:userMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:ruserMode:Mode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserModeuserMode::Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erMuserMode:odeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModususerMode:erMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:euserMode:ruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:ModeuserMode::userModuseuserMode:rMuserMode:ode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuuseruserMode:Mode:serMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuuserMode:serModeuserMode::e:ModeuserMode::userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:odeuserMode:::userMode:userMode:priuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userMode:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userModuserMode:e:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:duserMode:e::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seruserMode:MuserMouserMouserMode:de:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMususerMode:erMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:useuserMode:rMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuserMode:useuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerModeuserMode::erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:suserMode:erMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMouserMode:de:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMususerMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serModuserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuseuserMode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userMode::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModuserMode:euserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuseuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserMode:de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5ususerMode:eruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:userMouserMode:de:e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserMode:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::userMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModeuserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserModuserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruserMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuserMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserMode:[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::userModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deuserMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruserMode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode::userMode::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userModeuserMode::uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuseruserMode:Mode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserModuserMode:e:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userMouserMode:deuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::MuserMode:ode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:erususerMode:erMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMouserMode:duserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMouserMode:de:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:userMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMouserMode:de:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruseuserMode:rModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeususerMode:erMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMouserMode:de:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::userMode:de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userMouserMode:duseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMouserMode:de:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModuserMode:euserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuserMode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuserMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMode:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:Mode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:eruserMode:MouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserModuserMode:e:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerModuserMode:e:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouserususerMode:erMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:ModeuserMode::de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruuserMode:seuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserModeuserMode::e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oususerMode:erModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMuserMode:oduserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuserMode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userModuserMode:e:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:ususerMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserMode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:userususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuserMode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rModuserMode:e:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMuserMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userModeuserMode::useuuserMode:serMode:userMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:usuuserMode:serModuserMode:e:erModeuserMode:userMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:ruserMode:Mode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserModeuserMode::Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erMuserMode:odeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModususerMode:erMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:euserMode:ruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:ModeuserMode::userModuseuserMode:rMuserMode:ode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuuseruserMode:Mode:serMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuuserMode:serModeuserMode::e:ModeuserMode::userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:odeuserMode:::userMode:userMode:priuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserMode:userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userModuserMode:e:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:duserMode:e::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seruserMode:MuserMouserMouserMode:de:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMususerMode:erMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:useuserMode:rMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuserMode:useuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerModeuserMode::erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:suserMode:erMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMouserMode:de:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:userMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuseuserMode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserMode:Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModuserMode:euserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMode:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserMode:de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5ususerMode:eruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],userMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:userMouserMode:deuserMode::e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususerMode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuserMode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userModeuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModeuserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuserModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMode::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserMode:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruserMouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruseruserMode:Mode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode::userMode::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userModeuserMode::uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuseruserMode:Mode:seuserModeuserMode::rMode:.1f\n", rt-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserModuseruserMode:Mode:e:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userMouserMode:deuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::MuserMode:ode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:erususerMode:erMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMouserMode:duserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMouserMode:de:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:userMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMouserMode:de:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruseuserMode:rModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeususerMode:erMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMouserMode:de:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::userMode:de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userMouserMode:duseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMouserMode:de:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModuserMode:euserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususerMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruserMode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::userMouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:Mode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:eruserMode:MouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserModuserMode:e:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerModuserMode:e:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouserususerMode:erMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:ModeuserMode::de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruuserMode:seuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserModeuserMode::e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oususerMode:erModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMuserMode:oduserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userModeuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuseruserMode:Mode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userModuserMode:e:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserMode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::Mode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:userususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMode:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuserMode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:userMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuususerMode:erMode:suserMode:euserMode:rMode:erMouserMode:deuuserMode:serMode::uuserMode:useuserMode:rModuserMode:e:seruserMode:ModeuseuserMode:rModeuserMode::useuserMode:rMouserMususerMode:erMode:ode:de:userMode::useruserMode:Mode:useuseuuserMode:userMode:serMode:rMode:rMuserMode:oduserMode:euserMouserMode:de:uuserMode:serMode::userModeuserMode::useuuserMode:serMode:userMode:ruseruserModuserMode:userMode:e:MouserMode:deuserMode::MouserMode:de:useruserMode:Mode:userModeuseuserMode:uuserMode:serMode:rMuserMouserMode:de:ouserMode:de::userMuserMode:ode:usuuserMode:serModuserMode:e:erModeuserMode:userMode:userMuserMode:ode::useruseuserMode:rMode:ModeuserMode::userMode:userMode:userMode:uuserMode:serModeususerMode:userMuserMode:ode:euserMode:ruserMode:Mode:userModeuserMode:::userMouuserMuserMode:ode:serMode:de:ususeuseruserModeuserMode::Mode:rMode:eruuserModeuserMode:userMode::seruseruuserMode:serMode:Mode:Mode:ModususerMode:erMuserMode:odeuserMode::e:userMuseuserMode:rMode:odeuserModeuserMode::userMode::useuserModuserMode:e:rMuserMode:ouserMode:de:userModeuserModususerMode:erMouserMouserMode:de:de:e::usususerMode:euserMode:rMode:euserMode:ruserModususerMode:erModeuserMode::e:Mode:ususerMode:euserMode:rModeususerMode:erMode::userMode:userMode:useruseruserMode:MuserMode:ususerMode:eruserMode:Mode:ode:ModeuserMode::userModuseuserMode:rMuserMode:ode:e:userMode:uuseuserMode:rMuuserMode:seuserMouserMode:de:rModeuserMode::oduserModeuuserMode:serMode::e:serModeuserModuserMode:e::userMuserModuuserMode:serMode:e:userMode:ode:ususerMode:eruserMode:ModuuseruserMode:Mode:serMuserMode:ode:euserMouseuserMode:rMode:de::useruserMode:Mode:userMode:ususerMode:euserModuserMode:e:rMode:useuserMode:rModeuserMouserMode:duseruserMode:Mode:e::userususerMode:euserMode:rMode:userMode:userModuuserMode:serModeuserMode::e:ModeuserMode::userModeuserMode:userMode::userMode:userMode:usususerMode:erModuserMode:e:erMode:ususerMode:eruseuserMode:ruuserMode:serModuserMouserMode:de:e:MuserMouseruserMode:ModeuserMode::de:odeuserMode:::userMode:userMode:priuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userModuserMode:e:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:duserMode:e::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seruserMode:MuserMouserMouserMode:de:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMususerMode:erMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:useuserMode:rMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuserMode:useuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerModeuserMode::erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:Mode:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:suserMode:erMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMuserMode:ouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMouserMode:de:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuseuserMode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModuserMode:euserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuserMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserMode:de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5ususerMode:eruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-userMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuserMode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:userMouserMode:deuserMode::e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserMode:ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuserMode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMode::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruserMode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:userMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:erModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuserMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MususerMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMouserMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruseruserMode:MouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruseruserMode:Mode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode::userMode::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userModeuserMode::uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::serMode:f("time:	 %ususerMode:erMouserMode:de:6uuseruserMode:Mode:seuserModeuserMode::rMode:.1f\n", ruserMode:t-useruserModuseruserMode:Mode:e:Mode:>userMode:uuseuserModeuseruserMode:Mode::rMode:seruserModuseruserMode:Mode:e:userMode:ModuseruseuserMode:ruserMode:Mode:Mode:e:userModeuserMode::userMode:userMode:userMouserMode:deuserModeuserMode:::useuserModeuserMode:userMode::userMode:rMode:userMode:uuseruserModeuserMode::MuserMode:ode:serMouserMode:duserMode:e:useruserMode:ModeuseruseruserMode:MuserMode:ode:Mode::ususerMode:erususerMode:erMouserModeuserMode::deuserMode::MouserMode:de:userMuserMode:oduseruserMode:MouserMode:de:e:userMouserMode:duserMode:e:userMode:userMode:ususerMode:eususerMode:erMususerModuserMode:e:euserMode:rMode:ode:userMode:rMouserMode:de:useruserMode:Mode:userMode:userMouuserMode:serMode:duserMode:e:ususerMode:eruserMode:useruserMode:ModeuseuserMode:userMode:rMode::Mode:uuserMode:serMuseuserMode:rModuserMode:e:ode:userModuserMode:useruseuserMode:rModususerMode:erMouserMode:de:euserMode::Mode:e:userMode:userMode:useruserModususerMode:erMode:e:Mode:useuserMuserMode:ode:rMode:userModuserMode:euseruseuserMode:rModeuserMode::Mode::userMouserMode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uusususerMode:erMouserMode:de:eruserModeususerMode:erMode::MouserMode:de:suserMode:erMode:uuserMode:serModususeuserMode:rModeuserMode::erususerMode:erMode:Mode:e:ususerMode:erMouserMode:de:userMode:useuserMode:rModeuserModeuseruserMode:Mode:::userMouserMode:de:userMode:useruserMode:MouserModeuserModuserMode:e::userMode:de:useruseruserMode:userModeuserMode::Mode:MuserMode:ode:uuuserMode:serMode:ususeruserMode:Mode:erMode:seruserMode:Mode:userMode:userMouserMode:duseruserMode:userModuseruserModeuserMode::Mode:e:Mode:e:userModeuseuserMode:rMode::userMode:useuseuserModeususerMode:erMode::rMode:rMouserMode:de:userModeuserMode::userMouserMode:de:useruseruserMouserMuserMode:odeuseuseruserMode:MuserMode:ode:rMode:userMode::de:Mode:ModeuserModuserMode:euserMode:::userMode:uususerMode:erModeuserMode::serMode:userModuseruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruserMode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserModuserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:Mode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:eruserMode:MouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserModuserMode:e:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerModuserMode:e:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouserususerMode:erMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:ModeuserMode::de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruuserMode:seuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserModeuserMode::e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oususerMode:erModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMuserMode:oduserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userMouserMode:deuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuseruserMode:Mode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userModuserMode:e:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:Mode:userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserMode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:userususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuserMode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMode:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useuserMode:ruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:userMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuserMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userModuserMode:e:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:duserMode:e::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seruserMode:MuserMouserMouserMode:de:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMususerMode:erMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:useuserMode:rMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuserMode:useuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMode:oususerModeuserMode::erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:ModuserMode:e:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:suserMode:erMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMuserMode:ouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMouserMode:de:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserMode:serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModuserMode:euserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ode:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserMode:de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5ususerMode:eruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uususerMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuserMode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:userMouserMode:deuserMode::e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userMode:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:Mode:de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouserMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeuserMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuserMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useuserModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", useuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:e:userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMoususerMode:erMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruseruserMode:MouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruseruserMode:Mode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode::userMode::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userModeuserMode::uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f,  %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruserMode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserMode:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:userMode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:Mode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:eruserMode:MouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserModuserMode:e:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerModuserMode:e:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouserususerMode:erMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:ModeuserMode::de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruuserMode:seuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserModeuserMode::e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oususerMode:erModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:userMode:erMuserMode:ode:userususerMuserMode:oduserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:userMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userMouserMode:deuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuseruserMode:Mode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userModuserMode:e:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMode:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserMode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erModeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:userususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuserMode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMouserMode:de:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useuserMode:ruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:userMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMode:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userModuserMode:e:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:duserMode:e::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seruserMode:MuserMouserMouserMode:de:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMususerMode:erMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:useuserMode:rMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuserMode:useuserMode:rMode:userMode:rMode:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMouserMode:de:oususerModeuserMode::erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:ModuserMode:e:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:suserMode:erMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMuserMode:ouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMouserMode:de:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:eruserMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:oal[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuserMode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModuserMode:euserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMode:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserMode:de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5ususerMode:eruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3userMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuserMode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:userMouserMode:deuserMode::e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:Mode:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuserMode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:Mode:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserMode:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserMode::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt->tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModeuserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rModeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeuseruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:euserMode::userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMoususerMode:erMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruseruserMode:MouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruseruserMode:Mode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode::userMode::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userModeuserMode::uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMode:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruserMode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserMode:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuserMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuserMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuseruserMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:Mode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:eruserMode:MouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserModuserMode:e:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerModuserMode:e:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouserususerMode:erMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:ModeuserMode::de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruuserMode:seuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserModeuserMode::e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oususerMode:erModeuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:useruserMode:Mode:erMuserMode:ode:userususerMuserMode:oduserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:userMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userMouserMode:deuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuseruserMode:Mode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userModuserMode:e:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:ususerMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMode:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuserMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserMode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuserMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuuserMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:e:3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserMode:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:userususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususerMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserMode:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeuserMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuserMode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:userususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMuserMode:ode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMouserMode:de:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useuserMode:ruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:userMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userModuserMode:e:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:duserMode:e::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seruserMode:MuserMouserMouserMode:de:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMususerMode:erMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:useuserMode:rMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:userMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuserMode:useuserMode:rMode:userMode:rModuserMode:e:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMouserMode:de:oususerModeuserMode::erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:ModuserMode:e:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:suserMode:erMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMuserMode:ouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMouserMode:de:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserMode::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuserMode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModuserMode:euserMode::rMode:de:			5userMode:7userMode:.3userMode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserMode:de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[useuserMode:rMode:0], 5ususerMode:eruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3ususerMode:erMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuserMode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:userMouserMode:deuserMode::e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userMode:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuserMode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouserMode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMode:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModeuserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::Mode::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModuserMode:euserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruserMode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:ode:userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeususerMode:eruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:euserMode::userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMoususerMode:erMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruseruserMode:MouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruseruserMode:Mode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode::userMode::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userModeuserMode::uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouserMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruserMode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserMode:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 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userMoususerMode:eruserMode:MouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserModuserMode:e:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerModuserMode:e:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouserususerMode:erMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:ModeuserMode::de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruuserMode:seuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserModeuserMode::e:ode:ususerMode:eruususerMode:erMode:serMoususerMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oususerMode:erMouserMode:deuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:useruserMode:Mode:erMuserMode:ode:userususerMuserMode:oduserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:userMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userMouserMode:deuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuseruserMode:Mode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userModuserMode:e:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:oduserMode:euserMode::userMode:,userModeuserMode:: 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rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuserMode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:Mode:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:useuserMode:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMuserMode:ode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMouserMode:de:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useuserMode:ruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:userMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserMode:de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModuserMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userModuserMode:e:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:duserMode:e::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seruserMode:MuserMouserMouserMode:de:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserModuserMode:e:rMode:rModeuserMode::userMode:userMode:userMususerMode:erMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:userMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:useuserMode:rMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:useuserMode:rMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuserMode:useuserMode:rMode:userMode:rModuserMode:e:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMouserMode:de:oususerModeuserMode::erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:ModuserMode:e:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:suserMode:erMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMuserMode:ouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMouserMode:de:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: 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rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuserMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuserMode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserModeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModuserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserMode:de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMode:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususerMode:eruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3ususerMode:erMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuserMode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:userMouserMode:deuserMode::e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:ode:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:Mode:Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::ruseuserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserModuserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:Mode:e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::rMode:userMode:useruserMode:useruserModeuserModeuserMouserMode:de:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuserMode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususerMode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::MouserMode:de::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModuserMode:euserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useuserMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euseuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:odeuserMode::userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeususerMode:eruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:euserMode::userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMoususerMode:erMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruseruserMode:MouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruseruserMode:Mode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode::userMode::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userModeuserMode::uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houserususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruserMode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuserMode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuserMode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], 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rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], 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rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuserMuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuserMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuserMode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:useruserModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModuserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserMode:de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususerMode:eruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3ususerMode:erMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuserMode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:userMouserMode:deuserMode::e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userMode:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuseruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruserMode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuserModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:Mode:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruseuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::userMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::userMode:rMode:userMode:useruserMode:useruserModeuserModeuserMouserMode:de:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruserMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userModuserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususeruserMode:Mode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::MouserMode:de::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModuserMode:euserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useuserMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euserMode:useuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:odeuserMode::userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeususerMode:eruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:euserMode::userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMoususerMode:erMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruseruserMode:MouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruseruserMode:Mode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode::userMode::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userModeuserMode::uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-userModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruserMode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduserMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuserMode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 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userMoususerMode:eruserMode:MouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserModuserMode:e:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerModuserMode:e:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouserususerMode:erMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:ModeuserMode::de:serMouserMode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:serMode:erMode:userMouseruuserMode:seuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:userMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserModeuserMode::e:ode:ususerMode:eruususerMode:erMode:serMoususeuserMode:rMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oususerMode:erMouserMode:deuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:useruserMode:Mode:erMuserMode:ode:userususerMuserMode:oduserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:userMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userMouserMode:deuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuseruserMode:Mode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userModuserMode:e:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:oduserMode:euserMode::userMode:,userModeuserMode:: 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rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:userMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuseruserMode:Mode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:ModuserMode:e:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:useuserMode:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMuserMode:ode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMouserMode:de:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useuserMode:ruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:userMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserMode::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userModuserMode:e:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:duserMode:e::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seruserMode:MuserMouserMouserMode:de:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserMuserMode:oduserMode:e:rMode:rModeuserMode::userMode:userMode:userMususerMode:erMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:uuserMode:serMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:useuserMode:rMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:useuserMode:rMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuserMode:useuserMode:rMode:userMode:rModuserMode:e:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMouserMode:de:oususerModeuserMode::erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:ModuserMode:e:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:suserMode:erMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMuserMode:ouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMouserMode:de:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserMode:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuserMode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModuserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMode:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususerMode:eruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3ususerMode:erMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuserMode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:userMouserMode:deuserMode::e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:erMode:ode:Mode:[3], 57.userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userModuserMode:e:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususerMode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:Mode:de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:Mode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tf[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMode:ModuserModeuserMode::e:rModeuserMouserMode:de:::useuserMode:rMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::userMode:rMode:userMode:useruserMode:useruserModeuserModeuserMouserMode:de:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserMode:Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:Mode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userMuserMode:oduserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususeruserMode:Mode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::MouserMode:de::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModuserMode:euserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModeuserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:userModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMuserMode:ode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euserMode:useuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:odeuserMode::userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeususerMode:eruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:euserMode::userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMoususerMode:erMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruseruserMode:MouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruseruserMode:Mode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode::userMode::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userModeuserMode::uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:odeuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruserMode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuserMode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 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rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuserMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:useuserMode:rMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuseruserMode:Mode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:ModuserMode:e:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:useuserMode:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMuserMode:ode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMouserMode:de:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useuserMode:ruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:userMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMode:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userModuserMode:e:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMode:duserMode:e::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seuserMode:ruserMode:MuserMouserMouserMode:de:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserMuserMode:oduserMode:e:rMode:rModeuserMode::userMode:userMode:userMususerMode:erMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:uuserMode:serMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:useuserMode:rMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:useuserMode:rMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuserMode:useuserMode:rMode:userMode:rModuserMode:e:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMouserMode:de:oususerModeuserMode::erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:ModuserMode:e:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:suserMode:erMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMuserMode:ouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMouserMode:de:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMode:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuserMode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuserMode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModuserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuserMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususerMode:eruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3ususerMode:erMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuserMode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:userMouserMode:deuserMode::e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:ode:Mode:[3], 57.userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userModuserMode:e:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3userMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuserMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erModuserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruserMode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuuserMode:serMode:rMuserMode:ode:userModeuseuseruserMouserMode:de:ModuserModeuserMode::e:rModeuserMouserMode:de:::useuserMode:rMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::userMode:rMode:userMode:useruserMode:useruserModeuserModeuserMouserMode:de:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserMode:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMode::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:MuserMode:ode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userMuserMode:oduserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususeruserMode:Mode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::MouserMode:de::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModuserMode:euserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serModeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userMode:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:useruserMode:ModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMuserMode:ode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euserMode:useuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:odeuserMode::userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeususerMode:eruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:euserMode::userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMoususerMode:erMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruseruserMode:MouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruseruserMode:Mode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode::userMode::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userModeuserMode::uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserMode:Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruserMode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserMode:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuserMode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuserMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:Mode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:eruserMode:MouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserModuserMode:e:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerModuserMode:e:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouserususerMode:erMode:Mode:deuserMode::userMode::useuserModuserMode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:ModeuserMode::de:serMouseruserMode:Mode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:seruserMode:Mode:erMode:userMouseruuserMode:seuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:userMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserModeuserMode::e:ode:ususerMode:eruususerMode:erMode:serMoususeuserMode:rMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oususerMode:erMouserMode:deuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:useruserMode:Mode:erMuserMode:ode:userususerMuserMode:oduserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:userMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userMouserMode:deuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuseruserMode:Mode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userModuserMode:e:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruseruseruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouserMode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserMode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euserMode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:userususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouserMode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouserMode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:useuserMode:rMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuseruserMode:Mode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:ModuserMode:e:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:useuserMode:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMuserMode:ode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMouserMode:de:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useuserMode:ruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:userMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:useruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userModuserMode:e:userModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMuserMode:ode:duserMode:e::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seuserMode:ruserMode:MuserMouserMouserMode:de:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserMuserMode:oduserMode:e:rMode:rModeuserMode::userMode:userMode:userMususerMode:erMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:uuserMode:serMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:useuserMode:rMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:useuserMode:rMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuserMode:useuserMode:rMode:userMode:rModuserMode:e:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMouserMode:de:oususerModeuserMode::erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:ModuserMode:e:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:suserMode:erMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMuserMode:ouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMouserMode:de:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuserMode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuserMode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userMode:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModuserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euserMode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususerMode:eruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3ususerMode:erMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuserMode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:ode:Mode:[3], 57.userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userModuserMode:e:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuserMode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:Mode::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruserususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:userMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMode::ModuserModuserMode:euserMode::e:ModeuserMode::useuserMode:uuserMode:serMode:rMuserMode:ode:userModeuseuseruserMouserMode:de:ModuserModeuserMode::e:rModeuserMouserMode:de:::useuserMode:rMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::userMode:rMode:userMode:useruserMode:useruserModeuserModeuserMouserMode:de:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useuserMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMouserMode:de::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:MuserMode:ode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userMuserMode:oduserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususeruserMode:Mode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::MouserMode:de::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModuserMode:euserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruserMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuserMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userModuserMode:e:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:useruserMode:ModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMuserMode:ode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euserMode:useuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:odeuserMode::userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeususerMode:eruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:euserMode::userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMoususerMode:erMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruseruserMode:MouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruseruserMode:Mode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode::userMode::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userModeuserMode::uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serMode:rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruserMode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuserMode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rMode:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:Mode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:eruserMode:MouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserModuserMode:e:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerModuserMode:e:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouserususerMode:erMode:Mode:deuserMode::userMode::useuserModuserMuserMode:ode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:ModeuserMode::de:serMouseruserMode:Mode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:seruserMode:Mode:erMode:userMouseruuserMode:seuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:userMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserModeuserMode::e:ode:ususerMode:eruususerMode:erMode:serMoususeuserMode:rMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oususerMode:erMouserMode:deuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:useruserMode:Mode:erMuserMode:ode:userususerMuserMode:oduserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:userMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userMouserMode:deuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuseruserMode:Mode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userModuserMode:e:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMuserModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouserMode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserMode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMode::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euserMode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouserMode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userMode:userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:useuserMode:rMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuseruserMode:Mode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:ModuserMode:e:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:useuserMode:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMuserMode:ode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMouserMode:de:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useuserMode:ruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:userMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:ususerMode:eruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::erMouserMode:de:rtuserMode:->useuserMuserMode:ode:ruserModuuserMode:serModeuserMode::userMode:e:Mode:F[0],userMode:userMode:userModeuserMode:userMouserMode:de::userModuserMode:e:ususerMode:erModeuseuserMode:rMuserMode:userMouserMode:de:odeuuserMode:serMode:::userMode:userMode:uuserMode:seruseruseruserMode:userMode:Mode:ModuuserMode:serMode:e:userMouserModeuserMouserMuserMode:ode:duserMode:e::de:MuserMode:ode:userModeuserMode::userModuserMode:euserMoususerMode:euserMode:rModeuserMode::userMode:de::userMode:useuserMode:userMode:rMode:useruseruuserMode:seuserMode:ruserMode:MuserMouserMouserMode:de:userMode:de:ouserMouserMode:de:duserMode:userMode:e:ModuserMuserMode:ouserMode:de:e:MoususerMode:erMode:de:usususerMode:erMode:erMode:useuseuserMuserMode:oduserMode:e:rMode:rModeuserMode::userMode:userMode:userMususerMode:erMode:ode:useuserMode:ruseruserMode:MuserMode:userModeuserModeuserMode:ususerMode:erMode:::ode:Mode:uuserMode:uuserMode:serMode:suserMode:erModeuserMode::uuserMode:seuserMode:rModeuseuserMode:rMode::useruserMode:useuserMode:rMode:MuserMode:ode:userMode:useruseuserMode:ruseruserMode:MouseuserMode:useuserMode:rMouuserMode:serMode:de:rMode:useruserMode:Mode:de:ModeuserMode:userMode::MouserMode:de:uuseuserMode:rModuserMode:e:seuserMode:rMode:useruseuserMode:useuserMode:rMode:userMode:rModuserMode:e:MouserModuserMode:e:deuseuserMode:rModuserMouserMode:de:e::userMode:ususerMode:erMode:ususerMode:erMode:useruseruserMode:Mode:Mode:userMode:uuserModeuserMode::serMode:userMuserMouserMode:de:oususerModeuserMode::erMode:deuseuserMode:rMode:userModeuserMode::userMode::userMode:userMode:useuuserMode:serMode:rMode:uususerMode:userModuserMode:e:erMode:seruseruserMouserMode:de:ModuserMode:e:useuserMode:rMode:userMode:MuserMode:ode:Mode:uuserMode:suserMode:erMuserMode:ode:pruuserMode:suserMode:eruserMode:ModuseuserMode:rModususerMode:erMode:e:e:iuserModeuserMode::nter_userMode:oruserMuserMode:ouserMode:de:userMode:g.cpp:userMouserMode:de:	userMode:					rtuserMode:->F[1]userModuserMode:e:,uuserMouserMode:de:userModuserMode:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuserMode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:duserMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuserMode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userModuserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModuserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMode:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususerMode:eruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3ususerMode:erMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuseruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:ode:Mode:[3], 57.userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userModuserMode:e:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:ususerMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserMode:serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuserMode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruserMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:Mode:e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:useruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserMode:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMuserMode:ode::ModuserModuserMode:euserMode::e:ModeuserMode::useuserMode:uuserMode:serMode:rMuserMode:ode:userModeuseuseruserMouserMode:de:ModuserModeuserMode::e:rModeuserMouserMode:de:::useuserMode:rMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::userMode:rMode:userMode:useruserMode:useruserModeuserModeuserMouserMode:de:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rModuserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuserMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useususerMode:erMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMouserMode:de::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:MuserMode:ode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userMuserMode:oduserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususeruserMode:Mode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::MouserMode:de::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModuserMode:euserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMode:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserMode:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuseuserMode:rMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userModuserMode:e:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:useruserMode:ModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMuserMode:ode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euserMode:useuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:odeuserMode::userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeususerMode:eruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:euserMode::userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMoususerMode:erMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruseruserMode:MouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruseruserMode:Mode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode::userMode::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userModeuserMode::uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserMode:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruserMode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserMode:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuserMode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:userModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:Mode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:eruserMode:MouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserModuserMode:e:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:useruseruserMode:userModuserMode:e:useususerModuserMode:e:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:userMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouserususerMode:erMode:Mode:deuserMode::userMode::useuserModuserMuserMode:ode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:ModeuserMode::de:serMouseruserMode:Mode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:seruserMode:Mode:erMode:userMouseruuserMode:seuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:userMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserModeuserMode::e:ode:ususerMode:eruususerMode:erMode:serMoususeuserMode:rMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oususerMode:erMouserMode:deuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:useruserMode:Mode:erMuserMode:ode:userususerMuserMode:oduserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:userMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userMouserMode:deuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuseruserMode:Mode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userModuserMode:e:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]userMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouserMode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserMode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euserMode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouserMode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuserMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:useuserMode:rMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuseruserMode:Mode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:ModuserMode:e:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:useuserMode:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMuserMode:ode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMouserMode:de:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useuserMode:ruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:userMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouserMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMuserMode:ode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:ususerMode:eruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuserMode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserMode:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuserMode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuserModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModuserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususerMode:eruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3ususerMode:erMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:seruserMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:ode:Mode:[3], 57.userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userModuserMode:e:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserMode:Mode::uuserMode:seruseruserMode:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserMode:suserMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erModuserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:Mode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuseruserModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeuseuseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::userMode:uuserMode:seuserMouserMode:deuserMode::rMuserModuserMode:e:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMuserMode:ode::ModuserModuserMode:euserMode::e:ModeuserMode::useuserMode:uuserMode:serMode:rMuserMode:ode:userModeuseuseruserMouserMode:de:ModuserModeuserMode::e:rModeuserMouserMode:de:::useuserMode:rMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::userMode:rMode:userMode:useruserMode:useruserModeuserModeuserMouserMode:de:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuserModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuserMode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuseuserMode:rMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useususerMode:erMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMouserMode:de::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:MuserMode:ode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userMuserMode:oduserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususeruserMode:Mode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::MouserMode:de::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModuserMode:euserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuserMode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserMode:de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserModuserMode:e:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuseuserMode:rMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userModuserMode:e:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:useruserMode:ModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMuserMode:ode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euserMode:useuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:odeuserMode::userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeususerMode:eruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:euserMode::userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMoususerMode:erMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruseruserMode:MouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruseruserMode:Mode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode::userMode::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userModeuserMode::uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::serMuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruserMode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuserMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuserMode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:useuserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:Mode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:eruserMode:MouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:l[4userMuserModuserMode:e:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:userususerMode:eruserMode:userModuserMode:e:useususerModuserMode:e:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:userMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouserususerMode:erMode:Mode:deuserMode::userMode::useuserModuserMuserMode:ode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:ModeuserMode::de:serMouseruserMode:Mode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:seruserMode:Mode:erMode:userMouseruuserMode:seuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:userMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserModeuserMode::e:ode:ususerMode:eruususerMode:erMode:serMoususeuserMode:rMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oususerMode:erMouserMode:deuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:useruserMode:Mode:erMuserMode:ode:userususerMuserMode:oduserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:userMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userMouserMode:deuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuseruserMode:Mode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userModuserMode:e:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserMode:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouserMode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuserMode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuserMode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euserMode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserMode:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouserMode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuserMode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:useuserMode:rMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuseruserMode:Mode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:ModuserMode:e:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:useuserMode:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMuserMode:ode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMouserMode:de:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useuserMode:ruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:euserMode:rMuserMuserMode:userMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouseuserMode:rMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMuserMode:ode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:ususerMode:eruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuserMode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuserMode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModuserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:Mode:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:userMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususerMode:eruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3ususerMode:erMode:*rt->useruserMouserMode:de:Mode:q_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:ode:Mode:[3], 57.userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userModuserMode:e:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMode:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserMode:suserMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuserMode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMode:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::userMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:Mode::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerMode:euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:Mode:e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:userModeuseuserMode:rModeuserMouserMode:de::userMode::useuserMode:rMode:uuserMode:seuserMouserMode:deuserMode::rMuserModuserMode:e:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMuserMode:ode::ModuserModuserMode:euserMode::e:ModeuserMode::useuserMode:uuserMode:serMode:rMuserMode:ode:userModeuseuseruserMouserMode:de:ModuserModeuserMode::e:rModeuserMouserMode:de:::useuserMode:rMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::userMode:rMode:userMode:useruserMode:useruserModeuserModeuserMouserMode:de:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuserMode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuseruserMode:Mode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuseuserMode:rMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useususerMode:erMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMouserMode:de::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:MuserMode:ode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userMuserMode:oduserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususeruserMode:Mode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::MouserMode:de::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModuserMode:euserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suserMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:Mode:useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserModeuserMode::de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserModuserMode:e:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuseuserMode:rMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userModuserMode:e:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:useruserMode:ModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMuserMode:ode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euserMode:useuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:odeuserMode::userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeususerMode:eruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:euserMode::userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMoususerMode:erMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruseruserMode:MouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruseruserMode:Mode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode::userMode::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userModeuserMode::uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruserMode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruserMode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserMode:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuserMode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ode:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:Mode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMode:eruserMode:MouseruseruseruserMode:Mode:Mode:Mode:de:de:57userMouserMode:de:.3*ruserMode:t-userMuserMode:ode:>jgoauserMode:luserMode:[4userMuserModuserMode:e:ode:useruserModuserMode:e:Mode:]uuserMode:serModuserMode:e:usuuseruserMode:Mode:serMode:erMode:userususerMode:eruserMode:userModuserMode:e:useususerModuserMode:e:erModuserMode:e:rModuserMode:e:ModeuserMode::Mode:userMode:useruserMode:MouserMode:userMode:deuseuseuserModuseruserMode:Mode:e:rMuserMode:ode:rMouserususerMode:erMode:Mode:deuserMode::userMode::useuserModuserMuserMode:ode:userModeuserMode::e:rMode:useruserMode:Mode:userModeuserMuserMuserMode:ode:ouuserMouseruserMode:ModeuserMode::de:serMouseruserMode:Mode:de:de:userMode::useuserModuserMode:e:ruserMode:ModuuserMouseuserMode:rMode:de:serMode:e:userModeuserMode::usuuserMode:seruserMode:Mode:erMode:userMouseruuserMode:seuseuserMode:rModeuserMode::rMode:Mode:duserMode:e:useruserModuserModuserMode:e:e:ModeuserModuserMode:userMode:euserModeuserMode:::userMode::userMuseruserMode:ModuserModeuserMode::e:ode:ususerMode:eruususerMode:erMode:serMoususeuserMode:rMode:erModeuserMode::de:userMode:ModeuserMuserMode:ode:userMode::userMuserMode:ode:uuserMode:seuserMuserMode:oususerMode:erMouserMode:deuserMode::duserMode:e:rMode:userModuserMode:userMuserMode:ode:euseruserMode:ModeuserMode:::userMouserMode:de:ususerMode:useruserMode:Mode:erMuserMode:ode:userususerMuserMode:oduserMode:e:erMode:useuserMode:ruseuserMode:rMode:userModeuserMode::Mode:MouserMode:userMode:de:userMuseruususerMode:erMode:seuserMouserMode:de:rMode:Mode:ode:userModeuserMuserModuserMode:e:ode:ususerModeuserMode::erMode::userMouserMode:deuserMode::userMode:useuuseuserMode:rMode:suserMode:uuserMode:seuserMode:rModuserMode:e:erModususeruserMode:Mode:erMode:e:rModeuseuseruserMode:Mode:rModeuserMode:::ususerMode:eruserMouserModeuserMode::duserMode:e::printeuserMuserMode:userMode:ode:r_userMode:oruserMode:g.userModuserMode:e:cpp:userMode:						57.3useruserMode:ModuserMode:e:*ruserMode:t->jgoususerMode:erMode:aluseruserMode:Mode:[0]userMususerMode:erMode:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouserMode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MoususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuserMode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euserMode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserMode:userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouserMode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:e:de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuserMode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:useuserMode:rMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuseruserMode:Mode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:ModuserMode:e:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:useuserMode:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMuserMode:ode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMouserMode:de:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userMode::useuserMode:ruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:eususerMode:erMode:rMuserMuserMode:userMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouseuserMode:rMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMuserMode:ode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:ususerMode:eruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserMode:serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuserMode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userModuserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModuserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:userMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususerMode:eruserMode:Mode:7.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3ususerMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:ode:Mode:[3], 57.userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userModuserMode:e:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMode:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserMode:suserMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuserModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuserMode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruserMode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useuseruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:Mode:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeuseruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserMode:seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:useuserMode:rModeuseuserMode:rModeuserMouserMode:de::userMode::useuserMode:rMode:uuserMode:seuserMouserMode:deuserMode::rMuserModuserMode:e:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMuserMode:ode::ModuserModuserMode:euserMode::e:ModeuserMode::useuserMode:uuserMode:serMode:rMuserMode:ode:userModeuseuseruserMouserMode:de:ModuserModeuserMode::e:rModeuserMouserMode:de:::useuserMode:rMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::userMode:rMode:userMode:useruserMode:useruserModeuserModeuserMouserMode:de:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserMode:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuseruserMode:Mode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuseruserMode:Mode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuseuserMode:rMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useususerMode:erMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMouserMode:de::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:MuserMode:ode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userMuserMode:oduserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususeruserMode:Mode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::MouserMode:de::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModuserMode:euserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserModeuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuserMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:ModeuserMode::useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserModeuserMode::de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserModuserMode:e:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuseuserMode:rMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userModuserMode:e:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:useruserMode:ModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMuserMode:ode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euserMode:useuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:odeuserMode::userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeususerMode:eruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:euserMode::userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMoususerMode:erMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruseruserMode:MouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruseruserMode:Mode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode::userMode::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userModeuserMode::uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt->uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruserMode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:Mode:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuserMode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:rt-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:Mode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:userMode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouserMode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuserMode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euserMode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:userMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouserMode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuserMouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuserMode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:useuserMode:rMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuseruserMode:Mode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:ModuserMode:e:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:useuserMode:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMuserMode:ode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMouserMode:de:e::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userModeuserMode:::useuserMode:ruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:eususerMode:erMode:rMuserMuserMode:userMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouseuserMode:rMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMuserMode:ode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:ususerMode:eruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuserMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuserMode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:userModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserMode:Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserModuserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:userMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMoususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususerMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3ususerMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:ode:Mode:[3], 57.userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userModuserMode:e:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMode:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMode:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserMode:suserMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:Mode:xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:userModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModeuserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuserMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserModeuserMode::seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:useuserMode:rModeuseuserMode:rModeuserMouserMode:de::userMode::useuserMode:rMode:uuserMode:seuserMouserMode:deuserMode::rMuserModuserMode:e:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMuserMode:ode::ModuserModuserMode:euserMode::e:ModeuserMode::useuserMode:uuserMode:serMode:rMuserMode:ode:userModeuseuseruserMouserMode:de:ModuserModeuserMode::e:rModeuserMouserMode:de:::useuserMode:rMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::userMode:rMode:userMode:useruserMode:useruserModeuserModeuserMouserMode:de:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeuseuserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserModuserMode:e:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuseruserMode:Mode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuseruserMode:Mode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuseuserMode:rMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useususerMode:erMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMouserMode:de::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:MuserMode:ode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userMuserMode:oduserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususeruserMode:Mode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::MouserMode:de::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModuserMode:euserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rModuserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouserMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuuserMode:serMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:ModeuserMode::useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserModeuserMode::de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserModuserMode:e:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuseuserMode:rMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userModuserMode:e:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:useruserMode:ModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMuserMode:ode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euserMode:useuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:odeuserMode::userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeususerMode:eruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:euserMode::userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMoususerMode:erMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruseruserMode:MouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruseruserMode:Mode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode::userMode::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userModeuserMode::uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtime userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruserMode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserModuserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuserMode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserMode:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:Mode::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouserMode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserModeuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuserMode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euserMode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserModuuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouserMode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuserMode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuserMode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:useuserMode:rMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuseruserMode:Mode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:ModuserMode:e:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:useuserMode:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMuserMode:ode:rMode:userMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMouserMode:de:euserMode:::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userModeuserMode:::useuserMode:ruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:eususerMode:erMode:rMuserMuserMode:userMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouseuserMode:rMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMuserMode:ode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:ususerMode:eruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuserMode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMode:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:ter_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:userModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:userMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserMode::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouserMode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususerMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3ususerMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:ode:Mode:[3], 57.userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userModuserMode:e:userModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMode:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserMode:suserMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruserMode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userMode:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuserModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruserMode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::rMuserModeuserMode::ode:useruseruserModeuuserMode:serMuserMode:ode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserModeuserMode::seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:useuserMode:rModeuseuserMode:rModeuserMouserMode:de::userMode::useuserMode:rMode:uuserMode:seuserMouserMode:deuserMode::rMuserModuserMode:e:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMuserMode:ode::ModuserModuserMode:euserMode::e:ModeuserMode::useuserMode:uuserMode:serMode:rMuserMode:ode:userModeuseuseruserMouserMode:de:ModuserModeuserMode::e:rModeuserMouserMode:de:::useuserMode:rMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::userMode:rMode:userMode:useruserMode:useruserModeuserModeuserMouserMode:de:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserMode::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:e:deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeususerMode:euserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserModuserMode:e:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuseruserMode:Mode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuseruserMode:Mode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuseuserMode:rMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useususerMode:erMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMouserMode:de::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:MuserMode:ode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userMuserMode:oduserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususeruserMode:Mode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::MouserMode:de::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModuserMode:euserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserMode:de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouseuserMode:rMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuuserMode:serMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:ModeuserMode::useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserModeuserMode::de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserModuserMode:e:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuseuserMode:rMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userModuserMode:e:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:useruserMode:ModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMuserMode:ode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euserMode:useuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:odeuserMode::userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeususerMode:eruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:euserMode::userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMoususerMode:erMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruseruserMode:MouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruseruserMode:Mode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode::userMode::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userModeuserMode::uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuuserMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruserMode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:serMode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuserMode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserMode:userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserMode:rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouserMode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userModeuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuserMode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euserMode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeuserMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouserMode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuserMode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:useuserMode:rMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuseruserMode:Mode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:ModuserMode:e:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:useuserMode:rususerMode:erMode:Mode:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMuserMode:ode:rMode:useuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMouserMode:de:euserMode:::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userModeuserMode:::useuserMode:ruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:eususerMode:erMode:rMuserMuserMode:userMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouseuserMode:rMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMuserMode:ode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:ususerMode:eruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0userMuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuserMode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouserMode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rModeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:userMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::				userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouserMode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususerMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3ususerMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:ode:Mode:[3], 57.userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMode:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserMode:suserMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseuserMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:serEuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuserMode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruserMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:euseruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rMode:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuserMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMode:de:uuserModuserMode:euserMode::seuserModeuserMode::userMode:rMuserModeuserMode::ode:useruseruserModeuuserMode:serMuserMode:ode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserModeuserMode::seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:useuserMode:rModeuseuserMode:rModeuserMouserMode:de::userMode::useuserMode:rMode:uuserMode:seuserMouserMode:deuserMode::rMuserModuserMode:e:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMuserMode:ode::ModuserModuserMode:euserMode::e:ModeuserMode::useuserMode:uuserMode:serMode:rMuserMode:ode:userModeuseuseruserMouserMode:de:ModuserModeuserMode::e:rModeuserMouserMode:de:::useuserMode:rMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::userMode:rMode:userMode:useruserMode:useruserModeuserModeuserMouserMode:de:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModeuuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:euserMode::deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeususerMode:euserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserModuserMode:e:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuseruserMode:Mode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuseruserMode:Mode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuseuserMode:rMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useususerMode:erMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMouserMode:de::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:MuserMode:ode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userMuserMode:oduserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususeruserMode:Mode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::MouserMode:de::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModuserMode:euserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserModeuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMode:e:ouserModuserMode:euserModeuserMode:::duserMode:e:uuserModeuserMode::serMode:ususerMouserMode:de:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserMode:de:uuserModuseuserMode:rMouseuserMode:rMode:de:euserMode::serMuserMode:oduseuserMode:rMuserMode:ouserMode:de:e:userMode:userMouuuserMode:serMode:serMode:de:userMode:ususususerMode:erMuserMode:ode:euserMode:rMode:eruserMode:ModeuserMode::useuserModeuserModeuserMode:::rMode:userModeuserMouserMode:de::uuserModuseruserMouserModeuserMode::de:MuserMode:ode:e:seruseuserModuserMode:euserMode::userMode:rMode:MouserMode:de:uuserModuserMode:e:serMode:userMode:usususerMode:erModuserMode:e:userMode:erMode:useuuserMode:serMode:rMuseuserMode:rMode:userMode:ode:userMouserMode:de:useuserMode:ruserMode:ModeususerModeuserMode::userModuserMode:e:erModeuserMode:uuserMode:serMode:::userMouserMuseuserMode:rMode:ode:de:useruserMode:useruserMode:ModuserModuserMouseuserMode:rMode:de:e:e:MuserMuserMode:ode:ode:useuserMode:ruserModeuserMuserMode:ode::Mode:useruserMode:MuserMode:ode:userModuserMode:e:userMode:uuserMode:serModuserMode:euserMode:useuseruserMode:ModeuserMode::rModususerMuserMode:ode:erMode:e::userMuserMode:userMode:odeuserMode::userMode:ususerMode:erMode:userMode:useuserMode:userMode:ruserMode:userMode:ModuserModeususerMode:eruserMode:Mode::e:useruserMode:Mode:userMode:uuseruserMode:Mode:suserMode:erModuserMode:euserMode::userMuserModeuserMode::ouserMode:deuserMode:userMode::ususerModeuserModeuserMode:::erMoususerMode:erMode:de:useuserMode:rMuserMode:ode:userModuserMouserMode:de:e:userMode:useuserMode:ruseruserMode:MouuserMode:serModeuserMode::de:userMode:MuserMuserMode:ode:oduserModeuserMode::e:useruseruserMode:Mode:MuserMode:ouserMode:de:userModeuseuserMouserMode:duserMode:e:ruserMode:ModeuserMode::userMode::userMode:userMode:uuserMode:seuuserMode:serModeuserMode::rMouserModeuserMode::de:userModeuserMode::uuseruseruserMode:Mode:Mode:serModuserMouserMode:de:e:userususerModuserMode:e:erMode::			userMode:		userMode:ruserMode:uuseruserMode:Mode:ntuserMode:imeuuserMode:serModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruserMode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuserMode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:ModuserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMode:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouserMode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMode:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuserMode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euserMode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuserModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouserMode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuserMode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:useuserMode:rMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuseruserMode:Mode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:ModuserMode:e:ode:uuserMode:userMode:seuserMuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:useuserMode:rususerMode:erMode:ModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMuserMode:ode:rMode:useuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMouserMode:de:euserMode:::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userModeuserMode:::useuserMode:ruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:eususerMode:erMode:rMuserMuserMode:userMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouseuserMode:rMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMuserMode:ode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:ususerMode:eruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:oduseuserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruserMode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuserMode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:userMode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouserMode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:userMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuserMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouserMode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususerMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3ususerMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:erMode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:ode:Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMode:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserMode:suserMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuseruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuserMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::duseuserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:Mode:e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserMode:Mode:erModeuseruseruseuserMode:rModuserMode:e:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::userMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::Mode:odeuseuserMode:rModeuserMouserMode:de:::userMouserMouserMode:de:de:uuserModuserMode:euserMode::seuserModeuserMode::userMode:rMuserModeuserMode::ode:useruseruserModeuuserMode:serMuserMode:ode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserModeuserMode::seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:useuserMode:rModeuseuserMode:rModeuserMouserMode:de::userMode::useuserMode:rMode:uuserMode:seuserMouserMode:deuserMode::rMuserModuserMode:e:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMuserMode:ode::ModuserModuserMode:euserMode::e:ModeuserMode::useuserMode:uuserMode:serMode:rMuserMode:ode:userModeuseuseruserMouserMode:de:ModuserModeuserMode::e:rModeuserMouserMode:de:::useuserMode:rMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::userMode:rMode:userMode:useruserMode:useruserModeuserModeuserMouserMode:de:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMode:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuserMuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:userMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:euserMode::deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeususerMode:euserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserModuserMode:e:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuseruserMode:Mode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuseruserMode:Mode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuseuserMode:rMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useususerMode:erMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMouserMode:de::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:MuserMode:ode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userMuserMode:oduserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususeruserMode:Mode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::MouserMode:de::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModuserMode:euserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuserMode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruserMode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserMode:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuserMode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:userModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMoususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouserMode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMode:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuserMode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euserMode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouserMode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuserMode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:useuserMode:rMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuseruserMode:Mode:rMode:e:e:userMouserModuserMode:e:deuseuserMode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:ModuserMode:e:ode:uuserMode:userMode:seuseruserMode:MuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:useuserMode:rususerMode:erMode:ModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMuserMode:ode:rMode:useuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMouserMode:de:euserMode:::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userModeuserMode:::useuserMode:ruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:eususerMode:erMode:rMuserMuserMode:userMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouseuserMode:rMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMuserMode:ode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:ususerMode:eruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerModuserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruserMode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuserMode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouserMode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:Mode:uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:userMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouserMode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususerMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3ususerMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserMode:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:ode:Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMode:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserMode:suserMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruserMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->userMode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouserModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oal[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rModeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMuserMode:ode:userususeruserModeuserMode::Mode:erModeuseruseruseuserMode:rModuserMode:e:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserModuseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserMode:rMode:seuserMode:rMode:userMuseruserModeuserMode::ModuserMode:e:odeuseuserMode:rModeuserMouserMode:de:::userMouserMouserMode:de:de:uuserModuserMode:euserMode::seuserModeuserMode::userMode:rMuserModeuserMode::ode:useruseruserModeuuserMode:serMuserMode:ode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserModeuserMode::seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:useuserMode:rModeuseuserMode:rModeuserMouserMode:de::userMode::useuserMode:rMode:uuserMode:seuserMouserMode:deuserMode::rMuserModuserMode:e:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMuserMode:ode::ModuserModuserMode:euserMode::e:ModeuserMode::useuserMode:uuserMode:serMode:rMuserMode:ode:userModeuseuseruserMouserMode:de:ModuserModeuserMode::e:rModeuserMouserMode:de:::useuserMode:rMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::userMode:rMode:userMode:useruserMode:useruserModeuserModeuserMouserMode:de:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:e:e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuseruserMode:MuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:userMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:euserMode::deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeususerMode:euserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserModuserMode:e:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuseruserMode:Mode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuseruserMode:Mode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuseuserMode:rMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useususerMode:erMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMouserMode:de::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:MuserMode:ode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userMuserMode:oduserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususeruserMode:Mode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::MouserMode:de::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModuserMode:euserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuserMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruserMode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuserMode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserMode:e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:ode:e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouserMode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuserMode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euserMode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserModuseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseuserMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuserMode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:useuserMode:rMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuserMouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuseruserMode:Mode:rMode:e:e:userMouserModuserMode:e:deuseuserMuserMode:ode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:ModuserMode:e:ode:uuserMode:userMode:seuseruserMode:MuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:useuserMode:rususerMode:erMode:ModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMuserMode:ode:rMode:useuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMouserMode:de:euserMode:::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userModeuserMode:::useuserMode:ruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:eususerMode:erMode:rMuserMuserMode:userMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouseuserMode:rMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMuserMode:ode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:ususerMode:eruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserMode:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruserMode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouserMode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:userMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouserMode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususerMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3ususerMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMode:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:ode:Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMode:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserMode:suserMode:userMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userMode:rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruserMode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::ruserMode:ModuserMode:euserMode::Mode::userMode:userMuserMode:ode:userususeruserModeuserMode::Mode:erModeuseruseruseuserMode:rModuserMode:e:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:Mode:(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuserMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserModeuserMode::rMode:seuserMode:rMode:userMuseruserModeuserMode::ModuserMode:e:odeuseuserMode:rModeuserMouserMode:de:::userMouserMouserMode:de:de:uuserModuserMode:euserMode::seuserModeuserMode::userMode:rMuserModeuserMode::ode:useruseruserModeuuserMode:serMuserMode:ode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserModeuserMode::seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:useuserMode:rModeuseuserMode:rModeuserMouserMode:de::userMode::useuserMode:rMode:uuserMode:seuserMouserMode:deuserMode::rMuserModuserMode:e:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMuserMode:ode::ModuserModuserMode:euserMode::e:ModeuserMode::useuserMode:uuserMode:serMode:rMuserMode:ode:userModeuseuseruserMouserMode:de:ModuserModeuserMode::e:rModeuserMouserMode:de:::useuserMode:rMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::userMode:rMode:userMode:useruserMode:useruserModeuserModeuserMouserMode:de:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erModeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:euserMode::e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuseruserMode:MuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:userMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:euserMode::deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeususerMode:euserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserModuserMode:e:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuseruserMode:Mode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuseruserMode:Mode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuseuserMode:rMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useususerMode:erMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMouserMode:de::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:MuserMode:ode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userMuserMode:oduserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususeruserMode:Mode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::MouserMode:de::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModuserMode:euserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruserMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuserMode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:Mode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuserModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouserMode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:Mode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuserMode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euserMode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:erModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuserMode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userMode:;userMode:userMode:",ruserMode:tuserMode:useruserMode:Mode:->x[0userMode:useuserMode:rMouuserMode:seruserMode:Mode:ususerMode:erMode:duseuserMode:ruuseruserMode:MouserMode:de:suserMode:userMode:erMode:MuseruseruserMode:ModuserMode:e:userMode:Mode:oduseuseruserMode:Mode:rMode:e:e:userMouserModuserMode:e:deuseuserMuserMode:ode:rMode:ususerMode:erMode::userMuserMode:ode:userMouserMode:de:useruserModuserMode:e:MuseruserMode:userMode:ModuserMode:e:ode:uuserMode:userMode:seuseruserMode:MuserMode:ode:rMode:userMuserMode:odeuserMode::userModeuserMode:useruuserMode:serMode:MuserMode:ode::ususerMode:erModuserMode:e:useuserMode:rususerMode:erMode:ModuserMode:e:useruserModeuserMode::Mode:userMode:userMode:userModuuserMode:serModeuserMode::e:userMouseruserMode:userMode:MuseuserMode:rMode:oduseuserMuserMode:ode:rMode:useuserMode:rMode:e:duserMuserModeuserModeuseruserMode:Mode:::oduserMode:e:euserModuseuserMode:rMode:e:userMode:useruserMuserMode:ouserMode:deuserMode::ModuserMouserMode:de:euserMode:::userModuserMode:e:useruserMuserMode:ouserMode:de:Mode:ususeuserMode:rMode:eruserMode:userMouserMode:de:MuserModuserMode:e:ode:userMode:userModeuserMode:userModeuserMode:::useuserMode:ruseruserMode:Mode:Mode:useruserMuserMode:userMode:ode:Mode:useuserMode:rMouserMode:de:userModuserMode:e:userModeuserModuserMode:useruuserMode:ususerMode:eususerMode:erMode:rMuserMuserMode:userMode:odususerMode:erMode:e:oususerMode:erMode:userMode:de:serModeuserMode::userMode:MuserModuserMode:e:oduserMode:e:userMode:euserMuserMode:ouseuserMode:rMode:duserMode:e:::uususerMode:erModuserMode:e:serMode:useruserMode:userMode:Mode:userMode:userMuserMode:ode:ususerMode:euseuserMode:rMuserMode:ode:rMuserMode:ode:ususerMuserMode:ode:erMode:userModeuuserMode:sususerMode:erMode:erMode:useruseruserMode:Mode:Mode::useruserMode:userMode:ModeuserMode::userMode:Mode:uuserModuserMode:e:serModuserMode:e:ususerMode:eruserMode:Mode:pruserModuseuserMode:rModuserMode:e:e:inter_org.cpp:			/useuseuserMode:rMode:rMode:/			userModuserMode:e:useruserMode:userMode:ModeuserMode::rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruserMode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rModuserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouserMode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouserMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruserMode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:userMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuserMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouserMode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususerMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3ususerMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::Mode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:ode:Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMode:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserMode:suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n",userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserMode:serModeuseruseuserModeuserMode::rususerMode:erMode:ModuserMode:euserMode::Mode::userMode:userMuserMode:ode:userususeruserModeuserMode::Mode:erModeuseruseruseuserMode:rModuserMode:e:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])userModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouserMode:de::ruserMode:MuserMode:ode:useruseruserModuseuseuserMode:rMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserModeuserMode::rMode:seuserMode:rMode:userMuseruserModeuserMode::ModuserMode:e:odeuseuserMode:rModeuserMouserMode:de:::userMouserMouserMode:de:de:uuserModuserMode:euserMode::seuserModeuserMode::userMode:rMuserModeuserMode::ode:useruseruserModeuuserMode:serMuserMode:ode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserModeuserMode::seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:useuserMode:rModeuseuserMode:rModeuserMouserMode:de::userMode::useuserMode:rMode:uuserMode:seuserMouserMode:deuserMode::rMuserModuserMode:e:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMuserMode:ode::ModuserModuserMode:euserMode::e:ModeuserMode::useuserMode:uuserMode:serMode:rMuserMode:ode:userModeuseuseruserMouserMode:de:ModuserModeuserMode::e:rModeuserMouserMode:de:::useuserMode:rMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::userMode:rMode:userMode:useruserMode:useruserModeuserModeuserMouserMode:de:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuserMode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seuseuserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erMuserMode:odeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:euserMode::e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuseruserMode:MuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:userMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:euserMode::deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeususerMode:euserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserModuserMode:e:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuseruserMode:Mode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuseruserMode:Mode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuseuserMode:rMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useususerMode:erMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMouserMode:de::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:MuserMode:ode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userMuserMode:oduserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususeruserMode:Mode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::MouserMode:de::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModuserMode:euserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserMode:Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMouserMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuserMode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruserMode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruserMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouserMode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuserMode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMode:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuserMode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserModuserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruserMode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:erMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouserMode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouserMode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:rMuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:userMode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouserMode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususerMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3ususerMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruserMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:ode:Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMode:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserMode:suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuserMode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuserMode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:ususeuserMode:rMode:erMode:uuserModeuserMode::serModeuseruseuserModeuserMode::rususerMode:erMode:ModuserMode:euserMode::Mode::userMode:userMuserMode:ode:userususeruserModeuserMode::Mode:erModeuseruseruseuserMode:rModuserMode:e:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:rt->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMode:::userMode:userMode:uuserMode:seuserModeuserMouseruserMode:Mode:de::ruserMode:MuserMode:ode:useruseruserModuseuseuserMode:rMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserModeuserMode::rMode:seuserMode:rMode:userMuseruserModeuserMode::ModuserMode:e:odeuseuserMode:rModeuserMouserMode:de:::userMouserMouserMode:de:de:uuserModuserMode:euserMode::seuserModeuserMode::userMode:rMuserModeuserMode::ode:useruseruserModeuuserMode:serMuserMode:ode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserModeuserMode::seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:useuserMode:rModeuseuserMode:rModeuserMouserMode:de::userMode::useuserMode:rMode:uuserMode:seuserMouserMode:deuserMode::rMuserModuserMode:e:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMuserMode:ode::ModuserModuserMode:euserMode::e:ModeuserMode::useuserMode:uuserMode:serMode:rMuserMode:ode:userModeuseuseruserMouserMode:de:ModuserModeuserMode::e:rModeuserMouserMode:de:::useuserMode:rMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::userMode:rMode:userMode:useruserMode:useruserModeuserModeuserMouserMode:de:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:serModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMode:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seususerMode:euserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erMuserMode:odeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:euserMode::e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuseruserMode:MuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:userMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:euserMode::deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeususerMode:euserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserModuserMode:e:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuseruserMode:Mode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuseruserMode:Mode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuseuserMode:rMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useususerMode:erMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMouserMode:de::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:MuserMode:ode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userMuserMode:oduserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususeruserMode:Mode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::MouserMode:de::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModuserMode:euserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruseuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserMode:ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouseruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuserMode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:userMode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserMode:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuserMode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:ususerMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuserMode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_org.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruserMode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModuserMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouserMode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouserMode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:useuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rModuserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouserMode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususerMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3ususerMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:ode:Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserMode:suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:userModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:Mode:Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:eruserModeuseruserMode:Mode::Mode:rMode:userMode:ususeuserMode:rMode:erMode:uuserModeuserMode::serModeuseruseuserModeuserMode::rususerMode:erMode:ModuserMode:euserMode::Mode::userMode:userMuserMode:ode:userususeruserModeuserMode::Mode:erModeuseruseruseuserMode:rModuserMode:e:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruserMode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserMode:ouserMode:de:useruserMode:ModeuserMode:userModeuserMuserMode:ode:::userMode:userMode:uuserMode:seuserModeuserMouseruserMode:Mode:de::ruserMode:MuserMode:ode:useruseruserModuseuseuserMode:rMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserModeuserMode::rMode:seuserMode:rMode:userMuseruserModeuserMode::ModuserMode:e:odeuseuserMode:rModeuserMouserMode:de:::userMouserMouserMode:de:de:uuserModuserMode:euserMode::seuserModeuserMode::userMode:rMuserModeuserMode::ode:useruseruserModeuuserMode:serMuserMode:ode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserModeuserMode::seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:useuserMode:rModeuseuserMode:rModeuserMouserMode:de::userMode::useuserMode:rMode:uuserMode:seuserMouserMode:deuserMode::rMuserModuserMode:e:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMuserMode:ode::ModuserModuserMode:euserMode::e:ModeuserMode::useuserMode:uuserMode:serMode:rMuserMode:ode:userModeuseuseruserMouserMode:de:ModuserModeuserMode::e:rModeuserMouserMode:de:::useuserMode:rMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::userMode:rMode:userMode:useruserMode:useruserModeuserModeuserMouserMode:de:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruserMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rModeuuserMode:suserMode:erModuserMode:userMode:e::uuserMode:seruseruserMouserMode:de:Mode:useuseruserMode:Mode:rMode:ModuserMode:e:userMode:uuserMode:seususerMode:euserMode:rMode:userModeuserModeuseruserMode:Mode:::rMode:ususerMode:erMuserMode:odeususerMode:erModuseuserModuserModeuserMode::euserMode::rModuserMode:euserMode::e::useuserMode:rModuseuserMode:rMode:e:useruserModuserMode:e:Mode:uuseruserMode:MuserMode:ode:seuseruserMode:ModeuserModeuserMode:::rMode:userMuserMode:userMode:odeuserMode::useuserMode:rMouserMuseruserMode:Mode:oduserMouserMode:de:euserMode::deuserModeuserMode:ususerMode:erMode:::uuserMode:serMode:useruserModeususerMode:euserMode:rModuserMode:euserMode:userMode::userMode::ModeuserModeuserModuserMode:e:::userMode:userMouserModuserMode:euuseruserMode:Mode:serMode::de:uuseruserMode:Mode:serModuseruserMode:Mode:euuserMode:seruseruserMode:Mode:Mode::uuseruserMode:Mode:serMouserMode:de:useuserMuserMode:odeuserMode::ruserMode:Mode:uuuseuserMode:rMode:seuserMode:rMode:userMode:serMouuserModeuserMode::serMode:de:useususerMode:erMode:rMuserMode:oduserMode:e:userModeuserMode:ususerMode:euserMode:rMouserMode:de::userMouserMode:de:useuserModeuserMuserMode:odeuserMode:::ruserMode:MuserMode:ode:useuserModuserMode:e:ruserMode:MouserMuserMode:ode:userMode:de:userMuserMode:oduserMode:e:userMuseuserModeuserMode::rMode:ode:uuserMode:serModeususeruserMode:Mode:eruserMouserMode:deuseruserMode:Mode:ususerModeuserMode::erMode::MouserMode:de::userMode:uuserMode:serusuuserMode:serMode:erMode:ModuuserMode:serModuserMode:euserMode::e:uuuserMode:serMode:serMode:userMuserMuserMode:ode:ode:useususerMode:erModeuuserMode:suseuserMode:rMode:erMode::rMouserMode:deuuserMode:seuseuserMode:rMode:rMode::uuserMode:serMoususerMode:erMode:de:uuserMode:seruseuserModuserMode:e:rMode::ususerModeuserMode::erMode:mainuseuserModuserMode:euserMode::ususerMode:erModeuseuserModeuserMode::rMode::rMode:.cpp:		puserMode:ususerMuserModeuserMode::odeuserModuseuserMode:rMode:e::erModuserMuserMode:ode:e:rintf("muserModuserMode:e:ode %userMode:d \n", rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:op userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuserMode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:Mode:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuserMode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserMode:de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuserMode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserMode:MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruserMode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserMode::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouserMode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouserMode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserMode:ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:de:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuserMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouserMode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususerMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:ode:Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMode:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserMode:suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:Mode:Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userModeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerMode:euserMode:rMode::useususerMode:erususerMode:erModeuseruserMode:Mode::Mode:rMode:userMode:ususeuserMode:rMode:erMode:uuserModeuserMode::serModeuseruseuserModeuserMode::rususerMode:erMode:ModuserMode:euserMode::Mode::userMode:userMuserMode:ode:userususeruserModeuserMode::Mode:erModeuseruseruseuserMode:rModuserMode:e:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:useruseruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeuserMode::e:ModeuserMode::useuserMouserMode:de:rMuserModuserMode:e:ouserMode:de:useruserMode:ModeuserMode:userModeuserMuserMode:ode:::userMode:userMode:uuserMode:seuserModeuserMouseruserMode:Mode:de::ruserMode:MuserMode:ode:useruseruserModuseuseuserMode:rMode:rMode:euuserMode:serMode::Mode:Mode:uuseuserModeuserMode::rMode:seuserMode:rMode:userMuseruserModeuserMode::ModuserMode:e:odeuseuserMode:rModeuserMouserMode:de:::userMouserMouserMode:de:de:uuserModuserMode:euserMode::seuserModeuserMode::userMode:rMuserModeuserMode::ode:useruseruserModeuuserMode:serMuserMode:ode::MuserMode:oduserMode:e:Mode:uuserMode:seuuserModeuserMode::seuserMode:rMuserMode:ode:rMuserMode:ode:userMode:useuserMode:rModeuseuserMode:rModeuserMouserMode:de::userMode::useuserMode:rMode:uuserMode:seuserMouserMode:deuserMode::rMuserModuserMode:e:ouserModuseruserMode:Mode:e:de:useruseruserModeuserMuserMode:ode::ModuserModuserMode:euserMode::e:ModeuserMode::useuserMode:uuserMode:serMode:rMuserMode:ode:userModeuseuseruserMouserMode:de:ModuserModeuserMode::e:rModeuserMouserMode:de:::useuserMode:rMode:uuserMode:seuserModeuseuserMode:rMouserMode:de::userMode:rMode:userMode:useruserMode:useruserModeuserModeuserMouserMode:de:::ModuserMouserMode:de:e:Mode:uuserMode:seususeruseuserMode:ruserMode:Mode:Mode:erMode:rMode:userModeuserMode:useuuserMode:serMode:rModeuserMode:::userMouserModuserMode:e:de:useuserMode:rMode:useuserMuserMode:oduseruserMode:Mode:euserMode::userMode:rMode:useruseruserMuserMode:odeuserMode::userMode:MuseuserMode:rMode:oduserMode:e:Mode:useuseuserModeuserMode::rModususerMode:euserMode:rModuserMode:e:e:rMode:userModeuuserMode:seuuserMode:serMode:rModeuserMode:::userMode:useuuseruserMode:ModeuserMode::serModeuseuserMode:rMode::rMouseuserMode:ruserMode:MouserMode:de:de:useruseruserMode:userMuserMode:odeuserMode::ModuuserMode:serMode:e:Mode:t->ususeruserMode:Mode:erMuserMode:ode:userMode:a3[i] = -2userMode:.0*(ususerMode:euseruserMode:Mode:ruserMode:ModeuserMode::userMode:quserMode:userMode:goauuserMode:suserModuserMode:e:erModeuserMode::l[i]- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserMode:serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuserModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuserMode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMode:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuserMode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:rModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuserMode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruserMode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouserMode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouserMode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:Mode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]userMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouserMode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:ode:Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:userMode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserMode:suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:e:rModeuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruserMode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuserMode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuserMode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouserModeuserMode::de:userModeususerModeuserMode::euserMode:rMode::useususerMode:erususerMode:erModeuseruserMode:Mode::Mode:rMode:userMode:ususeuserMode:rMode:erMode:uuserModeuserMode::serModeuseruseuserModeuserMode::rususerMode:erMode:ModuserMode:euserMode::Mode::userMode:userMuserMode:ode:userususeruserModeuserMode::Mode:erModeuseruseruseuserMode:rModuserMode:e:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:useruserMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuserMode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserMode:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suserMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:huserMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuserMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouserMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuserMode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userMode::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuserMode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuserMode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMode:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruserMode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserMode::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouserMode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouserMode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuserModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:serMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useuserMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModususerMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:ode:Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserMode:suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModeuserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rMode:euseruseuserMode:rMode:Mode::MouseuserMode:rModeuserMode::de:userModeususerModeuserMode::euserMode:rMode::useususerMode:erususerMode:erModeuseruserMode:Mode::Mode:rMode:userMode:ususeuserMode:rMode:erMode:uuserModeuserMode::serModeuseruseuserModeuserMode::rususerMode:erMode:ModuserMode:euserMode::Mode::userMode:userMuserMode:ode:userususeruserModeuserMode::Mode:erModeuseruseruseuserMode:rModuserMode:e:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserModuserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruseruserMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserMode:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuseuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMouserMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuserMode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuserMode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xeuserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruserMode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->desiuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouserMode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouserMode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:Mode:duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserMode:de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userMode:suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuserMode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:ode:Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserMode:suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:userMode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1userMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruserMode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruserModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:Mode:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:Mode:e::useruserModuseuserMode:rModuserMode:e:euseruseuserMode:rMode:Mode::MouseuserMode:rModeuserMode::de:userModeususerModeuserMode::euserMode:rMode::useususerMode:erususerMode:erModeuseruserMode:Mode::Mode:rMode:userMode:ususeuserMode:rMode:erMode:uuserModeuserMode::serModeuseruseuserModeuserMode::rususerMode:erMode:ModuserMode:euserMode::Mode::userMode:userMuserMode:ode:userususeruserModeuserMode::Mode:erModeuseruseruseuserMode:rModuserMode:e:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:Mode:rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:rModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserMode:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserMode:Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0usususerMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuserMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususerMode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuserMode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serMode:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erMode:rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruserMode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouserMode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouserMode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMode:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserMode:de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuserMode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:duserMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserMode:suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:userMode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = userMode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuserMode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruserMode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:Mode:deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserModeuserMode::Mode:e::useruserModuseuserMode:rModuserMode:e:euseruseuserMode:rMode:Mode::MouseuserMode:rModeuserMode::de:userModeususerModeuserMode::euserMode:rMode::useususerMode:erususerMode:erModeuseruserMode:Mode::Mode:rMode:userMode:ususeuserMode:rMode:erMode:uuserModeuserMode::serModeuseruseuserModeuserMode::rususerMode:erMode:ModuserMode:euserMode::Mode::userMode:userMuserMode:ode:userususeruserModeuserMode::Mode:erModeuseruseruseuserMode:rModuserMode:e:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruserMode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruserMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:de::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::erMode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuserMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuserMode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuserMode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserMode::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruserMode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:rMode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouserMode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:erMode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uuseuserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuserMode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserMode:suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMode::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:userMode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserMode:t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::Mode:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::Mode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:useuseruseuserMode:ruserMode:Mode:MouserMode:de:rMuserMode:odeuserModuseruserModeuserMode::Mode:e::useruserModuseuserMode:rModuserMode:e:euseruseuserMode:rMode:Mode::MouseuserMode:rModeuserMode::de:userModeususerModeuserMode::euserMode:rMode::useususerMode:erususerMode:erModeuseruserMode:Mode::Mode:rMode:userMode:ususeuserMode:rMode:erMode:uuserModeuserMode::serModeuseruseuserModeuserMode::rususerMode:erMode:ModuserMode:euserMode::Mode::userMode:userMuserMode:ode:userususeruserModeuserMode::Mode:erModeuseruseruseuserMode:rModuserMode:e:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:userMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseuserMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuserMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMode:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMuserModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuserMode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruserMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuserMode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserMode:oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruserMode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouserMode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruserMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMode:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serMode:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuserMode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serMode:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserMode:suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:userMode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExiuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruserMode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserMode:ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuserMode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserMode:serMode:userMouserModeuserMode::de:userMode:useuseruseuserMode:ruserMode:Mode:MouserMode:de:rMuserMode:odeuserModuseruserModeuserMode::Mode:e::useruserModuseuserMode:rModuserMode:e:euseruseuserMode:rMode:Mode::MouseuserMode:rModeuserMode::de:userModeususerModeuserMode::euserMode:rMode::useususerMode:erususerMode:erModeuseruserMode:Mode::Mode:rMode:userMode:ususeuserMode:rMode:erMode:uuserModeuserMode::serModeuseruseuserModeuserMode::rususerMode:erMode:ModuserMode:euserMode::Mode::userMode:userMuserMode:ode:userususeruserModeuserMode::Mode:erModeuseruseruseuserMode:rModuserMode:e:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserMode:ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserMode:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuserMouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMode:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rModuserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMoususerMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuserMode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserMode:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuserMode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euserMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMode:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouserMode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:e:ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMode:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuserMode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMode:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:userModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:userMode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususerMode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuserMode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:Mode:useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuserMode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::userususerMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:ModeuseuserMode:rMode::Mode::uuserModeuserMode::serMode:userMouserModeuserMode::de:userMode:useuseruseuserMode:ruserMode:Mode:MouserMode:de:rMuserMode:odeuserModuseruserModeuserMode::Mode:e::useruserModuseuserMode:rModuserMode:e:euseruseuserMode:rMode:Mode::MouseuserMode:rModeuserMode::de:userModeususerModeuserMode::euserMode:rMode::useususerMode:erususerMode:erModeuseruserMode:Mode::Mode:rMode:userMode:ususeuserMode:rMode:erMode:uuserModeuserMode::serModeuseruseuserModeuserMode::rususerMode:erMode:ModuserMode:euserMode::Mode::userMode:userMuserMode:ode:userususeruserModeuserMode::Mode:erModeuseruseruseuserMode:rModuserMode:e:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuserMode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruserMode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserMode:Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouserMuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruserMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MususerMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->jgoaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuserMode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deuserMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuserMode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuserMode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouserMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserMode::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouserMode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserModuuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rMode::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuserMode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouserMode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:userMode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:userMode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:->useuseruserMode:Mode::						rt->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuserMode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruserMode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:Mode:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::uuserModeuserMode::serMode:userMouserModeuserMode::de:userMode:useuseruseuserMode:ruserMode:Mode:MouserMode:de:rMuserMode:odeuserModuseruserModeuserMode::Mode:e::useruserModuseuserMode:rModuserMode:e:euseruseuserMode:rMode:Mode::MouseuserMode:rModeuserMode::de:userModeususerModeuserMode::euserMode:rMode::useususerMode:erususerMode:erModeuseruserMode:Mode::Mode:rMode:userMode:ususeuserMode:rMode:erMode:uuserModeuserMode::serModeuseruseuserModeuserMode::rususerMode:erMode:ModuserMode:euserMode::Mode::userMode:userMuserMode:ode:userususeruserModeuserMode::Mode:erModeuseruseruseuserMode:rModuserMode:e:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:useruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususerMode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n",rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserMode:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuserMode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruserMode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuserMode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuserMode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuserMode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:ususerMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:userMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuserMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouserMode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserMode:de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userMode:userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserMode:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeuserMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuserMode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModuserMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouserMode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2userMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:userMode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:Mode:euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:, rt-useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserMode:suserMode:erMode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::uuserModeuserMode::serMode:userMouserModeuserMode::de:userMode:useuseruseuserMode:ruserMode:Mode:MouserMode:de:rMuserMode:odeuserModuseruserModeuserMode::Mode:e::useruserModuseuserMode:rModuserMode:e:euseruseuserMode:rMode:Mode::MouseuserMode:rModeuserMode::de:userModeususerModeuserMode::euserMode:rMode::useususerMode:erususerMode:erModeuseruserMode:Mode::Mode:rMode:userMode:ususeuserMode:rMode:erMode:uuserModeuserMode::serModeuseruseuserModeuserMode::rususerMode:erMode:ModuserMode:euserMode::Mode::userMode:userMuserMode:ode:userususeruserModeuserMode::Mode:erModeuseruseruseuserMode:rModuserMode:e:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:useuserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuserMode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuserMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMode:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:eruserModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserMode:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erMode:userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduseuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuserMode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruserMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuserMode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuserMode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruserMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuserMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouserMode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMode:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuserMode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserModeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouserMode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:Mode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:userMode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserModuseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:-useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useuserModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuserMode:::Mode::al[2]uuserModeuserMode::suserMode:erMode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::uuserModeuserMode::serMode:userMouserModeuserMode::de:userMode:useuseruseuserMode:ruserMode:Mode:MouserMode:de:rMuserMode:odeuserModuseruserModeuserMode::Mode:e::useruserModuseuserMode:rModuserMode:e:euseruseuserMode:rMode:Mode::MouseuserMode:rModeuserMode::de:userModeususerModeuserMode::euserMode:rMode::useususerMode:erususerMode:erModeuseruserMode:Mode::Mode:rMode:userMode:ususeuserMode:rMode:erMode:uuserModeuserMode::serModeuseruseuserModeuserMode::rususerMode:erMode:ModuserMode:euserMode::Mode::userMode:userMuserMode:ode:userususeruserModeuserMode::Mode:erModeuseruseruseuserMode:rModuserMode:e:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruserMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:Mode::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuserMode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:de:	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuserMode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserMode:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuserMode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuserMode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserMode:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:ode:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMode:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useuserMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousususerMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuserMode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:euserMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouserMode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:userMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:userMode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:-useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruserMode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:Mode:e:userMode:useususerMode:erModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserMode:deuseruserModeuserModeuseruserMode:Mode:::Mode::al[2]uuserModeuserMode::suserMode:erMode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::uuserModeuserMode::serMode:userMouserModeuserMode::de:userMode:useuseruseuserMode:ruserMode:Mode:MouserMode:de:rMuserMode:odeuserModuseruserModeuserMode::Mode:e::useruserModuseuserMode:rModuserMode:e:euseruseuserMode:rMode:Mode::MouseuserMode:rModeuserMode::de:userModeususerModeuserMode::euserMode:rMode::useususerMode:erususerMode:erModeuseruserMode:Mode::Mode:rMode:userMode:ususeuserMode:rMode:erMode:uuserModeuserMode::serModeuseruseuserModeuserMode::rususerMode:erMode:ModuserMode:euserMode::Mode::userMode:userMuserMode:ode:userususeruserModeuserMode::Mode:erModeuseruseruseuserMode:rModuserMode:e:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuserMode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::Mode::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euserMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserMode:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMode:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuserMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-userMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:Mode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMuserMode:ouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuserMode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuserMode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuserMode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuserMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duserMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:ususerModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserModuserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuserMode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouserMode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuserMode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:userMode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:-useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruserMode:Mode:Mode:ModuserMode:e:e:userMode:useususerMode:erModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuserMode:rMode:rMode:MouserModeuserMode::deuseruserModeuserModeuseruserMode:Mode:::Mode::al[2]uuserModeuserMode::suserMode:erMode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::uuserModeuserMode::serMode:userMouserModeuserMode::de:userMode:useuseruseuserMode:ruserMode:Mode:MouserMode:de:rMuserMode:odeuserModuseruserModeuserMode::Mode:e::useruserModuseuserMode:rModuserMode:e:euseruseuserMode:rMode:Mode::MouseuserMode:rModeuserMode::de:userModeususerModeuserMode::euserMode:rMode::useususerMode:erususerMode:erModeuseruserMode:Mode::Mode:rMode:userMode:ususeuserMode:rMode:erMode:uuserModeuserMode::serModeuseruseuserModeuserMode::rususerMode:erMode:ModuserMode:euserMode::Mode::userMode:userMuserMode:ode:userususeruserModeuserMode::Mode:erModeuseruseruseuserMode:rModuserMode:e:Mode:ModuserMode:e::ModeuserModuseuserMode:rModeuserMode::e::userMode:ususerModuserMode:euserMode::euseruserModuserMode:e:MouserMode:de:rMouserMode:de:userModeususerModeuserMode::euseuserMode:rMode:rMode::useuserususerMode:erModeuserMode::ModuseruserMode:ModeuserMode::e:rMode:ususerMode:erMode:useruseruuserMode:serususerMode:euseruserMode:Mode:rususerMode:erMode:ModeuserMode::MouserMode:de:MuserMode:ode:Mode:uuserMode:serMouserMode:de:userMode:useususerMode:eruseruserMode:Mode:MouserMode:duserMode:e:rModeuserMouserMode:duseuserMode:rMode:e::userMode:ususerModeuserModeuserMode:::eususerMode:eruserMode:Mode:rMouseuserMode:rMode:de:userModeususeruserMode:ModeuserMode::euserMode:rMode::useuseruserModeuseuserMode:rModeuserMode:::ModuserMode:e:ruserMuserMode:oduserMode:e:Mode:userMuserMode:odeuuserMode:seruseuseruserMode:Mode:ruserMode:MouserMode:deuseuserMode:rMode::Mode::userMode:userMode:userMouseruserMode:ModeuserMode::de:userMode:useuseruseruserMode:Mode:Mode:rModeuuserMode:serMouserMode:duseruserMode:Mode:e::userMode:userMode:ususerMode:eususerMode:erususerMode:erMode:Mode:rususeruserMode:Mode:erMuserMode:ode:MuserMode:odeuseuserMode:rMode::userMode:ineuseruserModeuseruseruserMode:ModeuserMode::Mode::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserMode:seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserMode:serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserModuserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserMode:ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:MuserMode:ode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMuserMode:ouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuserMode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuserMode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuserMode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruserMode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:odeuserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userMode:], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserMode:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuserMode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouserMode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserModeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuserMode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:-useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:Mode:ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userModuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:e:userMode:useususerMode:erModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserMode:Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuserMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:userModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouserMode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userMode:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuserMode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:ususerMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserModeuserMode::ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:MuserMode:ode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMuserMode:ouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuserMode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserMode:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuserMode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuserMode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruserMode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userMode:uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuserMuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuserususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:Mode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuserMode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.userMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserModeuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouserMode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuserMode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:-useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruserMode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:eruserMode:Mode::userMuserMode:oduseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:e:userMode:useususerMode:erModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuserMode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rMode:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruserModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuseuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserMode:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuserMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:uuserMode:suserMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserModeuserMode::ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:MuserMode:ode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMuserMode:ouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuserMode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:useruserMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuserMode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuserMode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:userModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruserMode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserMode:ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-userMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModuserMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuserMode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuserMode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:erMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:serModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouserMode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuserMode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:-useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->qguseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserMode::eususerMode:erususerMode:erMode:Mode::userMuserMode:oduseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:e:userMode:useususerMode:erModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserMode:suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeuseruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModeuserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMode::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:de:userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuserMode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuserMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuseuserMode:rMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:uuserMode:suserMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserModeuserMode::ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:MuserMode:ode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMuserMode:ouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuserMode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:serMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuserMode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuserMode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserMode:serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruserMode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2]);userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userMode:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuserModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuserMode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMode:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuserMode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:serMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:userMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:ususerMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouserMode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserMode:e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuserMode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuserMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:-useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode::useruseruserMode:Mode:ModeuserMode:Mode::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruserMode:ModeuserModeuserMode:::eususerMode:erususerMode:erMode:Mode::userMuserMode:oduseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:e:userMode:useususerMode:erModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuserMode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruserModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// userMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuserMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuserModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuserususerMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuuserMode:serMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuseuserMode:rMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:uuserMode:suserMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserModeuserMode::ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:MuserMode:ode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMuserMode:ouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuserMode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuserMode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuserMode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruserMode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserMode:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:usususerMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siuserususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuserMode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMoususerMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuserMode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:ee[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:ode:serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouserMode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuserModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuserMode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerMode:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serModuseruseuserMode:rMode:ModeuserModeuserMode:::eususerMode:erususerMode:erMode:Mode::userMuserMode:oduseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:e:userMode:useususerMode:erModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuserModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserModuserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:duserMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMode:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:ModuseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserMode:duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuseruuserMode:suserMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuuserMode:serMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuseuserMode:rMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:uuserMode:suserMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserModeuserMode::ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:MuserMode:ode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMuserMode:ouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuserMode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserModeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuserMode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruserModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruserMode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userMode::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:userModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruserModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuserMode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuserMode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serMode:ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserModuserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuserMode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouserMode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuserMode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMuserMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuserMode:serMuserMode:oduseruseuserMode:rMode:ModeuserModeuserMode:::eususerMode:erususerMode:erMode:Mode::userMuserMode:oduseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:e:userMode:useususerMode:erModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:ModuserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuserMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuseruserModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me - rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:userModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:serMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:userMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuseruuserMode:suserMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuuserMode:serMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuseuserMode:rMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:uuserMode:suserMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserModeuserMode::ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:MuserMode:ode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMuserMode:ouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuserMode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuserMode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususerMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruserMode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuserMouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuserMode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMode:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuserMode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuserMode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuserMode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouserMode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuserMode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuserMode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuserMode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuserMode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouserMode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:Mode:uuseruserMode:Mode:serMuserMode:oduseruseuserMode:rMode:ModeuserModeuserMode:::eususerMode:erususerMode:erMode:Mode::userMuserMode:oduseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:e:userMode:useususerMode:erModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuserMode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:euserMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuserMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserMode:oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuserMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:Mode:MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMode:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMuserMode:ode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:userMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuseruuserMode:suserMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuuserMode:serMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuseuserMode:rMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:uuserMode:suserMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserModeuserMode::ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:MuserMode:ode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMuserMode:ouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuserMode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuserMode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserMode::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruserMode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:ode:useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:Mode:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuserMode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:userMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuserMode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MuserMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuserMode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModeuserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuseruserMode:Mode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuserMode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuserMode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuserMode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserMode:userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuserMode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerMode:erMode:MuserMode:ode:uuseruserMode:Mode:serMuserMode:oduseruseuserMode:rMode:ModeuserModeuserMode:::eususerMode:erususerMode:erMode:Mode::userMuserMode:oduseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:e:userMode:useususerMode:erModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauseuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserMode:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuserMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseuseruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:Mode:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMouserMode:de:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMuserMode:ode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:userMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuseruuserMode:suserMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuuserMode:serMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuseuserMode:rMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:uuserMode:suserMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserModeuserMode::ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:MuserMode:ode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMuserMode:ouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuserMode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuserMode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruserMode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userMode:ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ode:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuserMode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuserMode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuserMode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuserMode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0userMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModuserMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuseruserMode:Mode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userModeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuserMode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuserMode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuserMode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserMode:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deuseuserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:rususerModeuserMode::erMode:MuserMode:ode:uuseruserMode:Mode:serMuserMode:oduseruseuserMode:rMode:ModeuserModeuserMode:::eususerMode:erususerMode:erMode:Mode::userMuserMode:oduseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:e:userMode:useususerMode:erModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuserMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruserMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserMode:seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuserMode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:ususeuserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuserMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeuseuserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:MouserMode:de:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMouserMode:de:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMuserMode:ode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:userMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuseruuserMode:suserMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuuserMode:serMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuseuserMode:rMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:uuserMode:suserMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserModeuserMode::ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:MuserMode:ode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMuserMode:ouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuserMode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuserMode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususerMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruserMode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeuserModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:e:useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuserMode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerMode:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuserMode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuserMode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuserMode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModususerMode:erMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuseruserMode:Mode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserMode:ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuserMode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuserMode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuserMode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:userMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::Mode:Mode:ruuserMode:suserModeuserMode::erMode:MuserMode:ode:uuseruserMode:Mode:serMuserMode:oduseruseuserMode:rMode:ModeuserModeuserMode:::eususerMode:erususerMode:erMode:Mode::userMuserMode:oduseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:e:userMode:useususerMode:erModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0], rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erModeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMode:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuserMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:e:useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruserMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeususerMode:euserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:MouserMode:de:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMouserMode:de:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMuserMode:ode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:userMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuseruuserMode:suserMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuuserMode:serMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuseuserMode:rMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:uuserMode:suserMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserModeuserMode::ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:MuserMode:ode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMuserMode:ouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: 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5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:e:useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:rt->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuserMode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMode:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuserMode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuserMode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuserMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuserMode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMuserMode:ode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModususerMode:erMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuseruserMode:Mode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuserMode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuserMode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMode:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruserMode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuserMode::ModuserMode:e:Mode:ruuserMode:suserModeuserMode::erMode:MuserMode:ode:uuseruserMode:Mode:serMuserMode:oduseruseuserMode:rMode:ModeuserModeuserMode:::eususerMode:erususerMode:erMode:Mode::userMuserMode:oduseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:e:userMode:useususerMode:erModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerMode:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserMode::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserModeuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMode:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::seuserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-userMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruseruserMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruuserMode:serMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeususerMode:euserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:MouserMode:de:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMouserMode:de:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMuserMode:ode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:userMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuseruuserMode:suserMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuuserMode:serMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuseuserMode:rMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:uuserMode:suserMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserModeuserMode::ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:MuserMode:ode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMuserMode:ouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuserMode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuserMode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruserMode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:de:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.userMouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuserMode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserMode:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuserMode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuserMode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruserMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuserMode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususerMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserMode:serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMuserMode:ode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMuserMode:ode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModususerMode:erMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuseruserMode:Mode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserMode:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuserMode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuserMode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMode::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:Mode:userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruserModeuseruserMode:Mode::ModuserMode:e:Mode:ruuserMode:suserModeuserMode::erMode:MuserMode:ode:uuseruserMode:Mode:serMuserMode:oduseruseuserMode:rMode:ModeuserModeuserMode:::eususerMode:erususerMode:erMode:Mode::userMuserMode:oduseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:e:userMode:useususerMode:erModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruserMode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruserModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:useuserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususerMode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:ode:useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerMode:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserususerMode:erMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruuserMode:serMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeususerMode:euserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:MouserMode:de:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMouserMode:de:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMuserMode:ode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:userMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuseruuserMode:suserMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuuserMode:serMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuseuserMode:rMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:uuserMode:suserMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserModeuserMode::ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:MuserMode:ode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMuserMode:ouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMuserMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuserMode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuserMode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruserMode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:ode:userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruserMode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuserMode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:userMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuserMode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuserMode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususerMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuserMode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::Mode:orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:ususerModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserModeuserMode::serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMuserMode:ode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMuserMode:ode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModususerMode:erMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuseruserMode:Mode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*rt->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuserMode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuserMode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuserMode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModuserMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserMode:ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useuseruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:Mode:ruuserMode:suserModeuserMode::erMode:MuserMode:ode:uuseruserMode:Mode:serMuserMode:oduseruseuserMode:rMode:ModeuserModeuserMode:::eususerMode:erususerMode:erMode:Mode::userMuserMode:oduseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:e:userMode:useususerMode:erModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:ruserMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserMode:Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::serModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserMode:MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userMode::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:ususerMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerModuserMode:e:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserususerMode:erMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruuserMode:serMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeususerMode:euserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:MouserMode:de:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMouserMode:de:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMuserMode:ode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:userMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuseruuserMode:suserMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuuserMode:serMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuseuserMode:rMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:uuserMode:suserMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserModeuserMode::ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:MuserMode:ode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMuserMode:ouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserMode:e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuserMode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruserMode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMode:usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruserMode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuserMode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserMode:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuserMode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuserMode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerMode:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuserMode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-userMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserModeuserMode::serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMuserMode:ode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMuserMode:ode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModususerMode:erMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuseruserMode:Mode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:rModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuserMode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuserMode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModeuserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuserMode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:Mode:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserMode:de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuserMode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserMode:e::useususerMode:eruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:Mode:ruuserMode:suserModeuserMode::erMode:MuserMode:ode:uuseruserMode:Mode:serMuserMode:oduseruseuserMode:rMode:ModeuserModeuserMode:::eususerMode:erususerMode:erMode:Mode::userMuserMode:oduseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:e:userMode:useususerMode:erModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuseruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserMode:ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserMode:ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvo louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:oduseuserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserMode:e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:uuserMode:suserMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerModuserMode:e:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserususerMode:erMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruuserMode:serMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeususerMode:euserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:MouserMode:de:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMouserMode:de:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMuserMode:ode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:userMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuseruuserMode:suserMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuuserMode:serMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuseuserMode:rMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:uuserMode:suserMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserModeuserMode::ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:MuserMode:ode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMuserMode:ouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euseuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruserMode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userMode:usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserMode:Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruserMode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuserMode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuserMode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuserMode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuserMode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuserMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserModeuserMode::serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMuserMode:ode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMuserMode:ode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModususerMode:erMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuseruserMode:Mode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:ruserMode:ModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuserMode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuserMode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserMode:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuserMode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMode:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuserMode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:Mode:rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erModuserModeuserMode::e::useususerMode:eruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:Mode:ruuserMode:suserModeuserMode::erMode:MuserMode:ode:uuseruserMode:Mode:serMuserMode:oduseruseuserMode:rMode:ModeuserModeuserMode:::eususerMode:erususerMode:erMode:Mode::userMuserMode:oduseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:e:userMode:useususerMode:erModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserMode:de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerMode:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserMode:rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMode:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:eParameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:userMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:userMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserModeuserMode::e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:uuserMode:suserMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerModuserMode:e:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserususerMode:erMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruuserMode:serMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeususerMode:euserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:MouserMode:de:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMouserMode:de:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMuserMode:ode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:userMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuseruuserMode:suserMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuuserMode:serMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuseuserMode:rMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:uuserMode:suserMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserModeuserMode::ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:MuserMode:ode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMuserMode:ouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, userMousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruserMode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uuserModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruserMode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuserMode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuserMode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuserMode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserModeuserMode::serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMuserMode:ode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMuserMode:ode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModususerMode:erMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuseruserMode:Mode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserMode:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:ruserMode:ModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuserMode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuserMode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userMode:usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuserMode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuserMode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruseruseuseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususerMode:erMouserMode:duserModeuserMode::e::useususerMode:eruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:Mode:ruuserMode:suserModeuserMode::erMode:MuserMode:ode:uuseruserMode:Mode:serMuserMode:oduseruseuserMode:rMode:ModeuserModeuserMode:::eususerMode:erususerMode:erMode:Mode::userMuserMode:oduseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:e:userMode:useususerMode:erModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerMode:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserMode:ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserModeuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuserMode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userMode:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:uuserMode:serMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserModeuserMode::e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:uuserMode:suserMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerModuserMode:e:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserususerMode:erMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruuserMode:serMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeususerMode:euserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:MouserMode:de:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMouserMode:de:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMuserMode:ode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:userMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuseruuserMode:suserMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuuserMode:serMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuseuserMode:rMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:uuserMode:suserMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserModeuserMode::ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:MuserMode:ode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMuserMode:ouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruserMode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruserMode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:userMode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rMode:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruserMode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuserMode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuserMode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuserMode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuserMode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuserModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:						uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::userMode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserModeuserMode::serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMuserMode:ode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMuserMode:ode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModususerMode:erMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuseruserMode:Mode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMuserMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserModuserMode:e:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:ruserMode:ModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuserMode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuserMode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuserMode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:erMode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuserMode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouserMode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userModeususeruserMode:Mode:erMouserMode:duserModeuserMode::e::useususerMode:eruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:e:Mode:ruuserMode:suserModeuserMode::erMode:MuserMode:ode:uuseruserMode:Mode:serMuserMode:oduseruseuserMode:rMode:ModeuserModeuserMode:::eususerMode:erususerMode:erMode:Mode::userMuserMode:oduseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:e:userMode:useususerMode:erModuserMode:e:rMuserMode:ouserMode:duseruserMode:ModuserMode:e:eususerMode:erMode::useruuserMode:suserMode:erModeuseruseuseruserMode:Mode:ruserMode:Mode:Mode::MuserMode:ode:userMouseruserMode:ModeuserMode::deuserModeuseruserMode:ModuserMode:e:::uuserMode:seuserMode:rMuserMode:ouserMode:de:userModuseuseruserMode:Mode:ruserMode:Mode:e:userMuserMode:odeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:ModuserMode:e:::uuserMode:seruserMode:MuserMode:ouserMode:de:useuseruseuseruserMode:Mode:ruserMode:Mode:Mode:rMuserMode:odeuserModuseruserMode:ModeuserMode::e::userMode:ususerMode:eususerMode:eruseuserMode:rMode:Mode:rMuserMode:ouserMode:de:userModeususeruserMode:Mode:euserMode:rMode::useususerMode:eruserModeuseruserMode:ModeuserMode:::Mode:ruserModuserMode:e:MuserMode:ode:uuserMode:serModeuserususerMode:euserMode:ruserMode:ModuseruserMode:Mode:euserMode::Mode::userMuserMode:ode:userMouseruserMode:ModeuserMode::de:useuseruseruserMode:ModuserMode:e:ModuserMode:e:rModeuserMouserMode:duserMode:e::useruserMouseruserMode:Mode:duserMode:euseruserModuserMode:e:Mode::MouseruserMode:ModeuserMode::de:userModeuseuserMode:rMouserMode:de::uuserMode:seuseruserModuserMode:euserMode::Mode:rMode:uuseruserMode:Mode:suserMode:erMode:userMuserMode:odeuseruseuseruserMode:ModeuserMode::ruserMode:ModeuserMode::MouserMode:de::uuserMode:seruserMode:MuserMode:ouserMode:de:ModuseruseuseruserMode:Mode:ruserMode:Mode:Mode:e:userMode:useuserModuseruserMode:ModeuserMode::e:rMode:userMouserMode:dususerMode:eruseuserMode:rMode:Mode:e:userMode:uuserMode:ser.cpp:			ususeruserMode:Mode:euserMode:rMode:				ususerMode:eruserModeuseruserMode:Mode::Mode:		userMode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuseruserMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouserMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMode:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:useruserMode:userMode:Mode:userMode:useuserMuserMode:oduserMode:e:userMode:userModuserMode:e:rMouserMode:de:ususerMode:erModuuserMode:serMode:e:userMouserMode:duserMode:e:uuserMode:serMode:usususerModeuserMode::eruserMode:Mode:eruseuserModuserMode:e:rModuserModeuserMode::e:MouseruseuserMode:rModuserMode:euserMode::Mode:de:ususeruserMode:Mode:erMode:uuserMode:suserMuserMode:ode:erMouuserMode:serMode:deuseuserMode:rMouserMode:de::uususerModuserMode:e:erMuserMode:ode:seruseruserMode:Mode:Mode:userMode:userMuserMode:ode:useruserususerMode:erMode:MuseuuserModuserMode:e:seuserMode:ruserMode:Mode:rMode:ode:Mode:useususeruuserMode:serMode:Mode:erMode:userModuserMode:ususerMode:erMuserMode:userMode:ode:e:rModeususerMode:euserMode:rMode::userModuserMode:e:userModuseruserMode:MouseuserMode:ruserMode:MouserMode:de:deuserMode:userMode::userMouserMode:de:e:userMode:ususerMode:userMode:eruserMouserMode:de:Mode:useuserMode:rMode:ususerModuserMode:e:erMouserMode:userMode:de:userMuserMuserMode:ode:ususerMode:euserMode:ruuuserMode:serMode:seruseruserMode:Mode:MouserMode:de:MuserMode:userMode:ode:odeuseruseuserMode:rMode:MuserMode:ode::useuserMode:rMode:useruuseruuserMode:suserMode:erMode:Mode:serModuserMuserMode:ode:euserMode::Mode:useuseuserMode:rModuserModuuuserMode:serMode:serMode:userMode:e:e:rModuserMode:useruserMode:Mode:e:useruuserMode:serMode:ModuseuserMode:rMuserMode:odeuserMode::e:uuserMode:seruserMode:ModuserMode:e:userMouserMode:userMode:de:uuserMode:suserMode:userMode:eruserMode:Mode:userMode:userMouserMode:ususerMode:userMode:erMuserModeuserMode::ode:de:useruserModeuserMouseuserMode:rMode:de::MuserususerMode:userMuserMode:ode:erMouserMode:de:MuserMode:ode:ode:uuserMode:serMuserModeuserMode::odeuserMode::userMode:useuserModuserMode:e:ruuseuserMode:rMuserMode:ouserMode:de:seuserModeuserMode::rMode::uuserMouserMode:de:serModuseruserMode:userMode:MuserMode:oduserMode:useuserMode:rMode:e:e:priuserModeususerMode:eruserMode:ModeuserMode:::nuserMode:ter_org.cppususerMode:eruseruserMode:Mode:Mode::					userMode:userMouserModuserMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuserMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruserMode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:userMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:de:seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruserMode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuserMode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuserMode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMode:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:serModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:userMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::userMode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserModeuserMode::serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMuserMode:ode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMuserMode:ode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModususerMode:erMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuseruserMode:Mode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuserMode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMususerMode:erMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserModuserMode:e:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:ruserMode:ModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuserMode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuserMode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuserMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:Mode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMode:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuserMode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:Mode:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuserMode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuserMode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeuserMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deususerMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erMode:Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruserMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruserMode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuserMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuserMode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruserMode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuserMode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]userMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuserMode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuseruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erMode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:userMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::userMode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserModeuserMode::serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMuserMode:ode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMuserMode:ode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModususerMode:erMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuseruserMode:Mode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuseruserMode:Mode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMususerMode:erMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserModuserMode:e:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:ruserMode:ModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuserMode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:Mode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuserModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuserMode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruserModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruserMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuserMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:Mode:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	useruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserMode:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuserMode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],useruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:e:uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruserMode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserMode:ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuserMode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuserMode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruserMode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuserMode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouserMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuserMode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:ode:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::userMode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserModeuserMode::serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMuserMode:ode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMuserMode:ode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModususerMode:erMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeuserMode::rMuseruserMode:Mode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMuserMode:ode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuseruserMode:Mode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMususerMode:erMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserModuserMode:e:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:ruserMode:ModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rModuserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuserMode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruserMode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:Mode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuserMode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userMode:e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruserMode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:Mode:duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserMode:userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMode::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserMode:uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususerMode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:rMode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMode:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruseruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userMode:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuserMode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuserMode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuserMode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruserMode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuserMode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuserModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuserMode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserMode:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserMode:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::userMode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserModeuserMode::serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMuserMode:ode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMuserMode:ode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModususerMode:erMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:userMode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeususerMode:erMode::rMuseruserMode:Mode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMuserMode:ode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuseruserMode:Mode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMususerMode:erMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserModuserMode:e:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:ruserMode:ModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userMode:uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuserMode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:], useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:Mode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserMode:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuserMode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuserMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::userMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruserMode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuserMode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuserModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::Mode:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserModeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-ususerMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserMode:ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuseruserMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususerMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;userModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuserMode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuserMode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuserMode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuserMode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruserMode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuserMode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuserMode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userMode:rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::ususerMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::userMode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserModeuserMode::serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMuserMode:ode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMuserMode:ode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModususerMode:erMode:e:euserMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:useruserMode:Mode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeususerMode:erMode::rMuseruserMode:Mode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMuserMode:ode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuseruserMode:Mode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMususerMode:erMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserModuserMode:e:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:ruserMode:ModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuserMode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userMode:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:Mode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouserMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuserMode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:rtuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserMode:rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userModeuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerMode:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserMode:suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rMode:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serMode:puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rMode:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57ususerMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMode:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:erMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserModuserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuserMode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuserMode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuserMode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuserMode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuserMode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruserMode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuserMode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuserMode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1useruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModuseruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::userMode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserModeuserMode::serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMuserMode:ode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMuserMode:ode::duserModuserMode:e:e::userMouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModususerMode:erMode:e:euseuserMode:rMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:useruserMode:Mode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeususerMode:erMode::rMuseruserMode:Mode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMuserMode:ode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuseruserMode:Mode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMususerMode:erMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserModuserMode:e:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:ruserMode:ModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuserMode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:userMuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:Mode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouserMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuserMode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useuserMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euuserMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euserModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserMode:deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuserMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserMode:ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuserModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserModeuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuserMode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuserMode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuserMode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuserMode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuserMode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuserMode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruserMode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuserMode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuserMode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuserMode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::userMode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserModeuserMode::serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMuserMode:ode::ode:useuserMuserMouserMode:de:ode:ruserMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMuserMode:ode::duserModuserMode:e:e::useruserMode:MouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModususerMode:erMode:e:euseuserMode:rMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:useruserMode:Mode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeususerMode:erMode::rMuseruserMode:Mode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMuserMode:ode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuseruserMode:Mode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMususerMode:erMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserModuserMode:e:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:ruserMode:ModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruserMode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuserMode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:Mode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userususeruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuserMode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:erModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:Mode:Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruserMode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModeuserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMode:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuserMode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMode:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt->time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuserMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerMode:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouserMode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuserMode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuserMode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuserMode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuserMode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuserMode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuserMode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruserMode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserMode:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:Mode:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuserMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::userMode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserModeuserMode::serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMuserMode:ode::ode:useuserMuserMouserMode:de:ode:ruserMode:userMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMuserMode:ode::duserModuserMode:e:e::useruserMode:MouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModususerMode:erMode:e:euseuserMode:rMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:useruserMode:Mode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeususerMode:erMode::rMuseruserMode:Mode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMuserMode:ode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuseruserMode:Mode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMususerMode:erMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserModuserMode:e:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:ruserMode:ModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1], userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:serMode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:Mode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt->dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuserMode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::Mode:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::Mode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuserMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:euserMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMode:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:userMode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserMode:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userMode:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMode:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:de:Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuserMode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouserMode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuserMode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuserMode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuserMode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuserMode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuserMode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuserMode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruserMode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserMode:userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserMode:Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouseruserModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserMode:userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::userMode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>userMode:userModuseruserMode:MuserMode:ode:e:jgoal[4userMode:]uuserModeuserMode::serMuserMode:ode:userMode:uuserMode:seuseuserMode:rMode:ruserMode:userMode:Mode:uuserususerMode:eruserMode:Mode:Mode:serMuuserMode:serModeuseuseruserMode:Mode:rMuserMode:ode::ode:useuserMuserMouserMode:de:ode:ruserMode:userMode:MouuserMode:seuserMode:ruserMode:MuserMode:ode:deuserMuserModuserMode:e:ouserMode:userModuserMode:euserMuserMode:ode::duserModuserMode:e:e::useruserMode:MouserMode:duserModuserMode:e:e:userMode:useuserMuseruserModeuserMode::Mode:odeuseruseruserMode:Mode:MouserMode:duserModususerMode:erMode:e:euseuserMode:rMode:::rMouserMode:de:userMode:userMode:useruseruserMode:uuserMuserMode:oduuserMode:serMode:e:serMode:userModuserMode:e:MouserModeuserMode:useruserMode:Mode:userMode::deuserModuserMode:userMode:e:userModeuserMode:::Mode:ususerMode:euserMode:rMode:useuuserMode:suserMode:userMode:eruserMode:ModeususerMode:erMode::rMuseruserMode:Mode:oduserMode:e:ususerMuserMode:ode:eruserMode:MouserMode:userMode:de:uuserMode:userMode:serMode:userMuserMode:oduuserMuserMode:ode:serModuserMode:e:euserMuserMuserMode:oduserMode:e:ode::useruserMouserMode:de:MouserMouserMode:de:de:useuserMouserMode:deuuserMode:serModuseruserMode:Mode:e::rMuserMode:ode:uuserMode:userMuserMode:odeuserMode::serMuserMode:ode:useuuserMode:serMouserModuserMode:e:de:ruserMode:ModeuserMode::userMuserMode:ouserMususerMode:erMode:ode:deuserMuuserMode:suserMode:erMode:ode:userMode:uuserMode:serMode::userModuuserMouserMode:de:seuserMode:ruserMode:Mode:e:userususerMode:erModeuseuserModuserMode:e:userMode:rModuserMode:euserMuserMuserMode:ode:ode:::Mode:userMode:userMode:useuserModuserMode:e:rMode:ususerMode:erMuserMode:ode:useruseuserMode:rMode:userMode:userMode:Mode:uuserMode:serModuserMode:euserMode:userMode::uuserMuserMode:odeuserMode:userMode::suuserMode:seuserMode:rMode:erMuseuserMode:rMode:ode:useususerMode:erMode:ruserMode:ModuserMode:userMode:e:useuserMode:ruuserMode:serMouuserMode:seuserMouserMode:duserModuserMode:e:euserMode::rMode:de:			5userMode:7userMode:.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserMode:deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:Mode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useuserMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouserMode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuserMode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruseruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouserMode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruserModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuserMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuseuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuserMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruserususerMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MouserMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userMode:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:userMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuserMode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouserMode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuserMode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuserMode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuserMode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuserMode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuserMode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuserMode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruserMode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt->xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:userMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;userModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::userMode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserModuserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruserMode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:Mode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1], 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususerMode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruserMode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:ususerMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserMode:ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserMode:rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserMode::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:rMuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserMode:op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:Mode:oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuserMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuserMode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:userMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuserMode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouserMode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuserMode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuserMode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuserMode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuserMode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuserMode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuserMode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruserMode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouserMode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserMode:Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:userMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::userMode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModeuserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuseruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:Mode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuserMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususerMode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::userMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserMode:Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erModeuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:Mode:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserMode:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuserMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:userModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuseuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuserMode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuserMode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:userMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuserMode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouserMode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuserMode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuserMode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuserMode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuserMode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuserMode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuserMode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruserMode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserMode:serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuserMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::userMode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:useruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:Mode::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuserMode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususerMode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserMode:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserModeuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:ModuseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:userModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->userEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserMode:Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:userMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModeuserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:ode:MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruserMode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuserMode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuserMode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuserMode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:userMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuserMode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouserMode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuserMode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuserMode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuserMode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuserMode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuserMode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuserMode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruserMode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruserModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:Mode:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::userMode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::userMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3], userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuserMode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuserMode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususerMode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserMode:useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rModeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuserMode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serMode:rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erMode:e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususerMode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuserMuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruserMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:userModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruserMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserMode:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:userMode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuserMode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuserMode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuserMode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:userMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuserMode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouserMode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuserMode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuserMode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuserMode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuserMode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuserMode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuserMode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMuserMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MouserModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserMode:ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMode:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:erMuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:Mode:ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],userMode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuserMode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuserMode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususerMode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMode:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserMode:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserMode:ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuserMode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:Mode::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfuseuuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:rModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_count iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerModuseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruserMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:e:uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouserMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuserMode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:userMode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuserMode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuserMode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuserMode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:userMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuserMode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouserMode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuserMode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuserMode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuserMode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuserMode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuserMode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuserMode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:serMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::goaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususerMode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serModeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:ModuserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuserMode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserMode:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuserMode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],userMode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuserMode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuserMode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususerMode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:userModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuserMode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouserMode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useuserModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserMode:Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userModeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euseruserMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserMode:MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuserMode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserMode:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuserMode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuserMode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:userMode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuserMode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuserMode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuserMode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:userMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuserMode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouserMode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuserMode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuserMode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuserMode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuserMode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuserMode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuserMode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruserMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserMode:rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duserMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userMode:*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuserMode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuserMode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],userMode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuserMode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuserMode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususerMode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseususerMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:Mode:eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserMode::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususerMode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euserMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususerMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:userMode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouserMode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMode:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMode::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserMode:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuserMode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuserMode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuserMode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuserMode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:userMode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuserMode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuserMode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuserMode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:userMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuserMode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouserMode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuserMode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuserMode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuserMode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuserMode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuserMode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuserMode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMode:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:userMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouserMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], ruseruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeususerMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuserMode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuserMode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuserMode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],userMode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuserMode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuserMode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususerMode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserMode::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:ususeruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModeuserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruserMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruserMode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserMode:de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:erMode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:Mode:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userMode:tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuserMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userMode:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:serMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerMode:erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruserMode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuserMode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuserMode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuserMode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:userMode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuserMode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuserMode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuserMode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:userMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuserMode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouserMode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuserMode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuserMode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuserMode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuserMode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuserMode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuserMode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:euserMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruserMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserModuserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:ususeruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:des[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:userMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuserMode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuserMode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuserMode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],userMode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuserMode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuserMode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususerMode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuserMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userMode:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouserMode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruserMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userModuserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserMode:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rModeuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:rMode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouserMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruserMode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruserMode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:erMode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuserMode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruserMode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuserMode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuserMode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuserMode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:userMode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuserMode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuserMode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuserMode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:userMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuserMode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouserMode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuserMode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuserMode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuserMode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuserMode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuserMode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuserMode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeuseuserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserMode::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserMode::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:userMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuserMode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:userMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuserMode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuserMode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuserMode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],userMode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuserMode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuserMode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususerMode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.userMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uuserMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModeuserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuserMode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuserMode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserMode::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:userMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:ModuserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:userModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserMode:e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:userMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::Mode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruserMode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuserMode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruserMode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuserMode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuserMode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuserMode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:userMode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuserMode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuserMode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuserMode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:userMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuserMode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouserMode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuserMode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuserMode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuserMode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuserMode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuserMode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuserMode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuserMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:userMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userMode:userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuserMode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:userMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuserMode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuserMode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuserMode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],userMode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuserMode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuserMode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususerMode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userMode:userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::useuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:ModuseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserMode:e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuuserMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::userususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuserMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruserMode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:de:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuserMuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuserMode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruserMode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuserMode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruserMode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuserMode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuserMode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuserMode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:userMode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuserMode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuserMode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuserMode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:userMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuserMode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouserMode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuserMode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuserMode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuserMode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuserMode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuserMode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:useruseuserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerMode:erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserMode:e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuserMode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuserMode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:userMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuserMode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuserMode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuserMode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],userMode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuserMode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuserMode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususerMode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserMode:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruserMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:Mode::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruserMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:Mode:odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserMode:serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserMode:Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeuserMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userMode:userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouserMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruserMode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuserMode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruserMode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuserMode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruserMode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuserMode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuserMode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuserMode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:userMode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuserMode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuserMode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuserMode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:userMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuserMode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouserMode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuserMode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuserMode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuserMode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuserMode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuserMode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:userMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:ode:ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduserMode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMode:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4userMode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuserMode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuserMode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:userMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuserMode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuserMode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuserMode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],userMode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuserMode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuserMode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserMode:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususerMode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rMode:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModeuserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserMode:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtiuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]userModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:userMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,userModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uuserMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuserMode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruserMode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuserMode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruserMode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuserMode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruserMode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuserMode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuserMode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuserMode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:userMode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuserMode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuserMode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuserMode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:userMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuserMode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouserMode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuserMode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuserMode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuserMode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouserMode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModuseruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuserMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerMode:erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:Mode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouserMode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4userMode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuserMode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuserMode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:userMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuserMode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuserMode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuserMode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],userMode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuserMode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuserMode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMode:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:ModuserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserMode:odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:de::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuseruserModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erMode:userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:Mode:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:, useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userModuserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuserMode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuserMode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruserMode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuserMode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruserMode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuserMode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruserMode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuserMode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuserMode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuserMode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:userMode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuserMode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuserMode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuserMode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:userMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuserMode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouserMode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuserMode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuserMode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:Mode:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:userModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erMode::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseuserMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuserMode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouserMode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4userMode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuserMode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuserMode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:userMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuserMode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuserMode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuserMode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],userMode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuserMode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userModuserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouserMode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuserMode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:ususerMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserMode:ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuserMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouserMode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserMode:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuserMode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:Mode:MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserMode:e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userMode:useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouserMode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuserMode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuserMode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruserMode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuserMode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruserMode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuserMode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruserMode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuserMode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuserMode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuserMode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:userMode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuserMode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuserMode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuserMode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:userMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuserMode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouserMode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuserMode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userMode:>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:erMode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:erMuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMode:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMode:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususerMode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuserMode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouserMode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4userMode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuserMode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuserMode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:userMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuserMode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuserMode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuserMode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],userMode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserMode:rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModeuserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:Mode:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuserMode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususerMode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userMode:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rt-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:de:userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euserMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::userMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::userModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserModeuserMode::e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::r_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouserMode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuserMode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuserMode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruserMode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuserMode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruserMode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuserMode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruserMode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuserMode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuserMode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuserMode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:userMode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuserMode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuserMode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuserMode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:userMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuserMode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouserMode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:userMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuserMode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:userMode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruserMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::Mode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:ode:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouserMode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususerMode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuserMode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouserMode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4userMode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuserMode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuserMode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:userMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuserMode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuserMode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuserMode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userMode:MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserMode:rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruserMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuserususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:userMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:ser_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruserMode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::useuserMode:rModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserModeuserMode::e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouserMode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuserMode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuserMode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruserMode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuserMode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruserMode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuserMode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruserMode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuserMode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuserMode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuserMode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:userMode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuserMode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuserMode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuserMode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:userMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuserMode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserMode:de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuserModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouserMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserMode:Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xeeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduserMode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouserMode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususerMode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuserMode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouserMode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4userMode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuserMode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuserMode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:userMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuserMode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuserMode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:e:userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruserMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouserMode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuseruseruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:Mode::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouuserMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serModeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:Mode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MoususeruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:userMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserMode:suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruseruserMode:Mode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::useuserMode:rModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserModeuserMode::e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:serMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouserMode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuserMode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuserMode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruserMode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuserMode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruserMode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuserMode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruserMode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuserMode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuserMode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuserMode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:userMode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuserMode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuserMode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuserMode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:userMode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:userMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouseruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMusususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruserMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduserMode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouserMode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususerMode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuserMode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouserMode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4userMode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuserMode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuserMode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:userMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuserMode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususerMode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,useruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::ususerMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:Mode:deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruserMode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rMode:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMode:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserMode:Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruserMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuserMode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuseruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:odeuserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:uuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruseruserMode:Mode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::useuserMode:rModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserModeuserMode::e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouserMode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuserMode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuserMode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruserMode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuserMode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruserMode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuserMode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruserMode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuserMode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuserMode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuserMode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:userMode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuserMode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuserMode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuserMode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMode:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserMode:serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userMode:2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euserMode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserMode:serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:userMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuserMode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduserMode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouserMode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususerMode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuserMode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouserMode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4userMode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuserMode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuserMode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:userMode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userMode:userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruserMode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeuserModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruserMode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruseruserModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:de:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuserMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuseuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMode:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:deuserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruserMode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:oduserMode:euserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:uuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruseruserMode:Mode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::useuserMode:rModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserModeuserMode::e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouserMode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuserMode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuserMode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruserMode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuserMode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruserMode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuserMode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruserMode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuserMode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuserMode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuserMode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:userMode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuserMode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuserMode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuserMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMode::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:ode:erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usususerMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xuserMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuserMode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuserMode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduserMode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouserMode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususerMode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuserMode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouserMode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4userMode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuserMode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuserMode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rModeususerMode:erModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouserMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:userMode:ususerMode:erMode:useuserMode:ruserModeuuserMode:seuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruserMode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMode:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserMode::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserMode:userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruseruserMode:Mode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:oduserMode:euserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:uuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruseruserMode:Mode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::useuserMode:rModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserModeuserMode::e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:Mode:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouserMode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuserMode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuserMode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruserMode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuserMode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruserMode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuserMode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruserMode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuserMode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuserMode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuserMode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:userMode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuserMode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduserMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouseruserMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rModeuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rMode:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:userMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuserMode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuserMode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduserMode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouserMode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususerMode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuserMode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouserMode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4userMode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuserMode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususerMode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:serMode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuserMode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::rModeususerMode:erModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1], rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuserMode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:userMuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMode:e:uuserMode:suseuserMode:rMode:erMode:useruserMode:Mode:ususerMode:erMode:useuserMode:ruserModeuuserMode:seuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouserMode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euseruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:ode:userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->jgoauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserModeuserMode::userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruseruserMode:Mode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:oduserMode:euserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:uuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruseruserMode:Mode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::useuserMode:rModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserModeuserMode::e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouserMode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuserMode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuserMode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruserMode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuserMode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruserMode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuserMode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruserMode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuserMode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuserMode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuserMode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:userMode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruserMode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModeuserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xgoal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruserMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:Mode:userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:ode::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuserMode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:userMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuserMode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuserMode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduserMode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouserMode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususerMode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuserMode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouserMode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4userMode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuserMode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMode:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:userModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rMode:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerMode:euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::rModeususerMode:erModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserMode:Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruserMode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auserMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserMode:useuserModeuserMode::rMode:dususerMode:erMouserMode:de:e:uuserMode:suseuserMode:rMode:erMode:useruserMode:Mode:ususerMode:erMode:useuserMode:ruserModeuuserMode:seuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:userMode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuserMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userMode:useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserMode:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userususerMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:userMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserModeuserMode::userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruseruserMode:Mode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:oduserMode:euserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:uuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruseruserMode:Mode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::useuserMode:rModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserModeuserMode::e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:userMode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::userMode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouserMode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuserMode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuserMode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruserMode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuserMode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruserMode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuserMode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruserMode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuserMode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuserMode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuserMode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruserMode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserMode:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:erMode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:userMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduserMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuserMode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:userMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuserMode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuserMode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduserMode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouserMode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususerMode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuserMode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouserMode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4userMode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],ususerMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruserMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuserMode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouserMode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::rModeususerMode:erModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:Mode:Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruserModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserMode::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuserMode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMouserMode:deuserMode:::userMode:userMouserModuserMode:e:useuserModeuserMode::rMode:dususerMode:erMouserMode:de:e:uuserMode:suseuserMode:rMode:erMode:useruserMode:Mode:ususerMode:erMode:useuserMode:ruserModeuuserMode:seuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruseruseuserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserModeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:rMouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userMode:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:erMode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userusususerMode:erMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:userMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserModeuserMode::userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruseruserMode:Mode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:oduserMode:euserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:uuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruseruserMode:Mode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::useuserMode:rModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserModeuserMode::e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruserMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::userMode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouserMode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuserMode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuserMode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruserMode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuserMode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruserMode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuserMode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruserMode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuserMode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuserMode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruserMode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserMode::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserMode:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::serMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uuserMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduseuserMode:rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userMode:, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuserMode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:userMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuserMode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuserMode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduserMode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouserMode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususerMode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuserMode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouserMode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:Mode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MuserMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::useruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:Mode:eruserMode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::rModeususerMode:erModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruserMode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuserMode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMuserModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMuserMode:ouserMode:deuserMode:::userMode:userMouserModuserMode:e:useuserModeuserMode::rMode:dususerMode:erMouserMode:de:e:uuserMode:suseuserMode:rMode:erMode:useruserMode:Mode:ususerMode:erMode:useuserMode:ruserModeuuserMode:seuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserMode::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserModuserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModeuserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserMode:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:de:userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:eruserMode:Mode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userusususerMode:erMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:userMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserModeuserMode::userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruseruserMode:Mode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:oduserMode:euserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:uuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruseruserMode:Mode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::useuserMode:rModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserModeuserMode::e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::userMode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouserMode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuserMode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuserMode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruserMode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuserMode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruserMode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuserMode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruserMode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuserMode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruserMode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:serMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuserMode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:useuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususerMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->userMode:x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduseuserMode:rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruserMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuserMode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:userMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuserMode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuserMode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduserMode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouserMode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususerMode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuserMode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:Mode:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::ususeruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::rModeususerMode:erModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuseruserMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tf[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususerMode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMode:e:userMode:useruserModuserMode:e:userMode:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMuserMode:ouserMode:deuserMode:::userMode:userMouserModuserMode:e:useuserModeuserMode::rMode:dususerMode:erMouserMode:de:e:uuserMode:suseuserMode:rMode:erMode:useruserMode:Mode:ususerMode:erMode:useuserMode:ruserModeuuserMode:seuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerMode:erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:serMode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:e:.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:deuserMode::userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:eruserMode:Mode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userusususerMode:erMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:userMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserModeuserMode::userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruseruserMode:Mode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:oduserMode:euserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:uuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruseruserMode:Mode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::useuserMode:rModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserModeuserMode::e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:erMode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::userMode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouserMode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuserMode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuserMode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruserMode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuserMode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruserMode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuserMode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruserMode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruserMode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMode:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuserMode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususerMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruserMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuserMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useuserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:userMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->userMode:x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduseuserMode:rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserMode:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuserMode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:userMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuserMode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuserMode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduserMode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouserMode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususerMode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuserMode:e:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt->tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuserMode:euserMode:::uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::rModeususerMode:erModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rModuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserMode:Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erModuserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuserMode::seuseuserMode:rMode:rMuserMode:oduserMouserMode:de:e:userMode:useruserModuserMode:e:userMode:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMuserMode:ouserMode:deuserMode:::userMode:userMouserModuserMode:e:useuserModeuserMode::rMode:dususerMode:erMouserMode:de:e:uuserMode:suseuserMode:rMode:erMode:useruserMode:Mode:ususerMode:erMode:useuserMode:ruserModeuuserMode:seuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userMode:erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serMode::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModeuserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:userMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:deuserMode::userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:eruserMode:Mode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userusususerMode:erMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:userMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserModeuserMode::userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruseruserMode:Mode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:oduserMode:euserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:uuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruseruserMode:Mode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::useuserMode:rModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserModeuserMode::e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:userMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::userMode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouserMode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuserMode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuserMode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruserMode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuserMode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruserMode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuserMode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruserMode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:ode:rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuserMode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuserMode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:userMode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuuserMode:serMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useuserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMode:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:userMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:userMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->userMode:x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduseuserMode:rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserMode::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuserMode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:userMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuserMode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuserMode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduserMode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouserMode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuserMode:e:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserMode:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userususerMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:userMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruserMode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModeuserMode::ModuseruserMode:Mode:euserMode:::uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::rModeususerMode:erModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useuserMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouserMode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euseususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:ModuserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMode::ususerModeuserMode::erMode:uuserModeuseruserMode:Mode::seuseuserMode:rMode:rMuserMode:oduserMouserMode:de:e:userMode:useruserModuserMode:e:userMode:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMuserMode:ouserMode:deuserMode:::userMode:userMouserModuserMode:e:useuserModeuserMode::rMode:dususerMode:erMouserMode:de:e:uuserMode:suseuserMode:rMode:erMode:useruserMode:Mode:ususerMode:erMode:useuserMode:ruserModeuuserMode:seuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:Mode:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:rModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruserususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModuserMode:euserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:userMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:deuserMode::userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:eruserMode:Mode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userusususerMode:erMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:userMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserModeuserMode::userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruseruserMode:Mode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:oduserMode:euserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:uuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruseruserMode:Mode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::useuserMode:rModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserModeuserMode::e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuserMode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::userMode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouserMode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuserMode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuserMode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruserMode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuserMode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruserMode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:Mode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruserMode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserModuserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuserMode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMode:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuserMode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeuseuserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuserMode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruserMode:Mode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuuserMode:serMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useuserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:userMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:userMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->userMode:x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduseuserMode:rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuserMode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:userMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuserMode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuserMode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduserMode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serMode:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuserMode:e:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuserMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-userMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:userMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeuseruseuserMode:rModuserMode:euserMode::ModuseruserMode:Mode:euserMode:::uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::rModeususerMode:erModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:Mode:e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserMode:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserMode:rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::rMouserModeuserMode::de:userModeuuserMode:serMuserMode:ode::ususerModeuserMode::erMode:uuserModeuseruserMode:Mode::seuseuserMode:rMode:rMuserMode:oduserMouserMode:de:e:userMode:useruserModuserMode:e:userMode:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMuserMode:ouserMode:deuserMode:::userMode:userMouserModuserMode:e:useuserModeuserMode::rMode:dususerMode:erMouserMode:de:e:uuserMode:suseuserMode:rMode:erMode:useruserMode:Mode:ususerMode:erMode:useuserMode:ruserModeuuserMode:seuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususerMode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erModeuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuserMode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruseruserMode:ususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModuserMode:euserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:userMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:deuserMode::userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:eruserMode:Mode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userusususerMode:erMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:userMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserModeuserMode::userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruseruserMode:Mode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:oduserMode:euserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:uuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruseruserMode:Mode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::useuserMode:rModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserModeuserMode::e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::ususeruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuserMode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::userMode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouserMode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuserMode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuserMode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruserMode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuserMode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:Mode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruserMode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uususerMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuserMode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->userMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuserMode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouserMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuserMode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:userMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruserMode:Mode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuuserMode:serMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useuserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:userMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:userMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->userMode:x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduseuserMode:rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:serMode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuserMode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:userMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuserMode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuserMode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususerMode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuserMode:e:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMode:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puseuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:userMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuserMode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erModeususerMode:eruseuserMode:rModuserMode:euserMode::ModuseruserMode:Mode:euserMode:::uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::rModeususerMode:erModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruserMode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:qmax*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuserMode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euserMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserMode::::userMode:useuserMouserMode:deuserMode::ruserMode:MouserModeuserMode::de:userModeuuserMode:serMuserMode:ode::ususerModeuserMode::erMode:uuserModeuseruserMode:Mode::seuseuserMode:rMode:rMuserMode:oduserMouserMode:de:e:userMode:useruserModuserMode:e:userMode:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMuserMode:ouserMode:deuserMode:::userMode:userMouserModuserMode:e:useuserModeuserMode::rMode:dususerMode:erMouserMode:de:e:uuserMode:suseuserMode:rMode:erMode:useruserMode:Mode:ususerMode:erMode:useuserMode:ruserModeuuserMode:seuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuserMode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruserMuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuserMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerMode:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuseruserMode:Mode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruseruserMode:ususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModuserMode:euserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:userMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:deuserMode::userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:eruserMode:Mode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userusususerMode:erMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:userMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserModeuserMode::userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruseruserMode:Mode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:oduserMode:euserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:uuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruseruserMode:Mode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::useuserMode:rModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserModeuserMode::e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uuserMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuserMode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::userMode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouserMode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuserMode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuserMode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruserMode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:Mode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruserMode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserMode:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuserMode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserMode:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuserMode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuserMode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:rMode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruserMode:Mode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuuserMode:serMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useuserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMode:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:userMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:userMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->userMode:x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduseuserMode:rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rMode:suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuserMode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:userMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuserMode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuserMode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMuserMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuserMode:e:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMode:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuserMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:userMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:userModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duserMode:e:ususeruseruserMode:Mode:Mode:erModeususerMode:eruseuserMode:rModuserMode:euserMode::ModuseruserMode:Mode:euserMode:::uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::rModeususerMode:erModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserModuseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuserMode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserModuserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:useruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserMode:deuserMode:ususerMode:euserMode:rModeuserModuserMode:e::::userMode:useuserMouserMode:deuserMode::ruserMode:MouserModeuserMode::de:userModeuuserMode:serMuserMode:ode::ususerModeuserMode::erMode:uuserModeuseruserMode:Mode::seuseuserMode:rMode:rMuserMode:oduserMouserMode:de:e:userMode:useruserModuserMode:e:userMode:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMuserMode:ouserMode:deuserMode:::userMode:userMouserModuserMode:e:useuserModeuserMode::rMode:dususerMode:erMouserMode:de:e:uuserMode:suseuserMode:rMode:erMode:useruserMode:Mode:ususerMode:erMode:useuserMode:ruserModeuuserMode:seuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususerMode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:userMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1userMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModuserMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerModuserMode:e:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuseruserMode:Mode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruseruserMode:ususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModuserMode:euserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:userMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:deuserMode::userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:eruserMode:Mode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userusususerMode:erMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:userMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserModeuserMode::userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruseruserMode:Mode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:oduserMode:euserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:uuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruseruserMode:Mode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::useuserMode:rModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserModeuserMode::e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uususerMode:erMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuserMode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::userMode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouserMode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuserMode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuserMode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:Mode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruserMode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuserMode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuserMode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruserMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuserMode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euserMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuserMode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuserMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:ruserMode:Mode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruserMode:Mode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuuserMode:serMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useuserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:userMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:userMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->userMode:x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduseuserMode:rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserMode:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuserMode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:userMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuserMode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruserMode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuserMode:e:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMode:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:userModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:userMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerMode:erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erModeususerMode:eruseuserMode:rModuserMode:euserMode::ModuseruserMode:Mode:euserMode:::uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::rModeususerMode:erModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:Mode:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:Mode::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:useruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMode:useruserMode:ModeuserMouserModeuserMode::deuserMode:ususerMode:euserMode:rModeuserModuserMode:e::::userMode:useuserMouserMode:deuserMode::ruserMode:MouserModeuserMode::de:userModeuuserMode:serMuserMode:ode::ususerModeuserMode::erMode:uuserModeuseruserMode:Mode::seuseuserMode:rMode:rMuserMode:oduserMouserMode:de:e:userMode:useruserModuserMode:e:userMode:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMuserMode:ouserMode:deuserMode:::userMode:userMouserModuserMode:e:useuserModeuserMode::rMode:dususerMode:erMouserMode:de:e:uuserMode:suseuserMode:rMode:erMode:useruserMode:Mode:ususerMode:erMode:useuserMode:ruserModeuuserMode:seuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuserMode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuserMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userMode:rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruserMode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userMode:ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModususerMode:erMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerModuserMode:e:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuseruserMode:Mode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruseruserMode:ususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModuserMode:euserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:userMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:deuserMode::userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:eruserMode:Mode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userusususerMode:erMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:userMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserModeuserMode::userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruseruserMode:Mode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:oduserMode:euserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:uuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruseruserMode:Mode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::useuserMode:rModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserModeuserMode::e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModuserMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euserMode:uuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uususerMode:erMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuserMode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::userMode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouserMode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuserMode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:Mode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruserMode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserMode:serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuserMode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuserMode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuserMode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuserMode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:euserMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:ruserMode:Mode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruserMode:Mode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuuserMode:serMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useuserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:userMode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:userMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:userMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->userMode:x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduseuserMode:rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userMode:rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuserMode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:userMode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruserMode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userMode:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuserMode:e:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruserusuuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:userMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouserMode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erModeususerMode:eruseuserMode:rModuserMode:euserMode::ModuseruserMode:Mode:euserMode:::uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::rModeususerMode:erModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruserMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuseruserMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuserMode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:userMode:ususerMode:euserMode:ruuserMode:serMode:userMode:Mode:userMode:useruserMode:ModeuserMouserModeuserMode::deuserMode:ususerMode:euserMode:rModeuserModuserMode:e::::userMode:useuserMouserMode:deuserMode::ruserMode:MouserModeuserMode::de:userModeuuserMode:serMuserMode:ode::ususerModeuserMode::erMode:uuserModeuseruserMode:Mode::seuseuserMode:rMode:rMuserMode:oduserMouserMode:de:e:userMode:useruserModuserMode:e:userMode:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMuserMode:ouserMode:deuserMode:::userMode:userMouserModuserMode:e:useuserModeuserMode::rMode:dususerMode:erMouserMode:de:e:uuserMode:suseuserMode:rMode:erMode:useruserMode:Mode:ususerMode:erMode:useuserMode:ruserModeuuserMode:seuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuserMode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserMode:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerMode:erMode:ode::MuserMode:ode:Mode:al[userModuserMode:e:userMode:1]uuserMode:serMode:userModeuserMode::ususeuseruseruserMode:Mode:Mode:ruserMode:Mode:ususerMode:erMode:euserMode:rModeuserModususerMode:erMode:userModuserMode:e:e::userMode:userMode:userMode:userMouserMoususerMode:erMususerModuserMode:e:erModeuserMouserMode:de::oduserMode:e:de:de:userMuseruserMode:userMouserMode:deuserMuseruserMode:Mode:userMode:userMode:ode::MouseuserMode:rMode:de:odeuserModeuserMode:::userMode:useruseruserMode:ususerMode:eruuserMode:serMode:Mode:ModuseuserMode:rMode:euserMode::Mode:uuseruserMode:ModuserMode:euserMode:useruserMode:ModuserModeuserMode::e::suserMode:erMode:useuserModuseruseuserMode:userMode:rMuserMode:odeuserMode::MoususerMode:userMode:eruserMode:ModuserMode:e:de:e:rMouserMode:deuserMode::userModuseuseuserMode:rMode:rMode:euserMuserMuserMode:odeuserMode::ode::userususerMode:eruserMode:Mode:Mode:uuseuserMode:rMode:suserMuserModuserMode:e:ode:erMode:userMode:userMode:userusususerMode:erMode:eruseruuserMode:suserMode:erMode:ModuserMuserMode:ode:e:Mode:MuseuserMuseuuserMode:userMode:suserMode:erMouserMode:de:rMouseruserMode:Mode:de:ode:useuserMode:rModuserMode:e:ruserModeuserMode::userMode:ModuuserMode:serMode:userususerMode:erMode:Mode:e:ode:ususerMode:erMode:useruseruserMode:Mode:MuserModeuserMode::ode:uuserMode:userMode:serModuseuuserModuserMode:e:serMuserMode:oduserMode:euserMode::rMouserMode:de:euserMode::useuseuserMode:rModuseruserMode:userMode:userMode:ModuserMode:uuserMode:serMuserMode:ode:e:e:rMode:userModuseuserMode:rMode:userMode:e:useuserMode:ruseruserMode:Mode:Mode:useruserMode:useruseuserModuserMode:userMode:e:userMode:rMouserMode:de:Mode::useuserMode:rModuserMode:euserMode::uuserMode:userModuserMouserMode:de:e:serMode:puuseruserModuserModeuserMode::e:Mode:seruseuserMode:rMode:Mode:riuserMuseruserMouserMode:de:ModeuseruserMode:Mode::ode:userMode:userMode:nteuuuserMode:serMode:seruseuserMode:rMode:ModeuserMode::userMode:r_ouserMode:uususerMode:erMode:seruserMode:Mode:rg.userMuserMode:ouserMode:deuserMode::cpp:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususerMode:erMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euserMode:uuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uususerMode:erMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuserMode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::userMode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouserMode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruserMode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:Mode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruserMode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuserModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuserMode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuserMode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuserMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuserMode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:Mode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuserMode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserMode:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:ruserMode:Mode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruserMode:Mode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuuserMode:serMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useuserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuseruserMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:userMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:userMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->userMode:x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduseuserMode:rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuserMode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruserMode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruserMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuserMode:e:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuserMode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMuserMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:userMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:Mode:euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erModeususerMode:eruseuserMode:rModuserMode:euserMode::ModuseruserMode:Mode:euserMode:::uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::rModeususerMode:erModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:Mode:ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuserMode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeuseruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erModuserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:ModuserMode:e:deuseruserMode:Mode::erMode:useruserMode:Mode:ususerMode:euserMode:ruuserMode:serMode:userMode:Mode:userMode:useruserMode:ModeuserMouserModeuserMode::deuserMode:ususerMode:euserMode:rModeuserModuserMode:e::::userMode:useuserMouserMode:deuserMode::ruserMode:MouserModeuserMode::de:userModeuuserMode:serMuserMode:ode::ususerModeuserMode::erMode:uuserModeuseruserMode:Mode::seuseuserMode:rMode:rMuserMode:oduserMouserMode:de:e:userMode:useruserModuserMode:e:userMode:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMuserMode:ouserMode:deuserMode:::userMode:userMouserModuserMode:e:useuserModeuserMode::rMode:dususerMode:erMouserMode:de:e:uuserMode:suseuserMode:rMode:erMode:useruserMode:Mode:ususerMode:erMode:useuserMode:ruserModeuuserMode:seuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuserMode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rModuserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserususerMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuserMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseuserMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususerMode:erMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euserMode:uuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uususerMode:erMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuserMode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::userMode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruserMode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:Mode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruserMode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuserMode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuserMode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:userMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuserMode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMode:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuserMode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serMode:de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:ruserMode:Mode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruserMode:Mode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuuserMode:serMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useuserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMode:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuserususerMode:erMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:userMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:userMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->userMode:x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduseuserMode:rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userMode:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMuserMode:ode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::useuserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruserMode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:Mode:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuserMode:e:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userMode:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuserMode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:userMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::ususeruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erModeususerMode:eruseuserMode:rModuserMode:euserMode::ModuseruserMode:Mode:euserMode:::uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::rModeususerMode:erModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruserMode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:Mode:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usususeruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruserMode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuserMode:suserMuserMode:ouseruserMouserMode:de:MuserMode:oduserMode:e:deuseruserMode:Mode::erMode:useruserMode:Mode:ususerMode:euserMode:ruuserMode:serMode:userMode:Mode:userMode:useruserMode:ModeuserMouserModeuserMode::deuserMode:ususerMode:euserMode:rModeuserModuserMode:e::::userMode:useuserMouserMode:deuserMode::ruserMode:MouserModeuserMode::de:userModeuuserMode:serMuserMode:ode::ususerModeuserMode::erMode:uuserModeuseruserMode:Mode::seuseuserMode:rMode:rMuserMode:oduserMouserMode:de:e:userMode:useruserModuserMode:e:userMode:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMuserMode:ouserMode:deuserMode:::userMode:userMouserModuserMode:e:useuserModeuserMode::rMode:dususerMode:erMouserMode:de:e:uuserMode:suseuserMode:rMode:erMode:useruserMode:Mode:ususerMode:erMode:useuserMode:ruserModeuuserMode:seuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuserMode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserModuserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususerMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususerMode:erMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euserMode:uuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uususerMode:erMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuserMode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::userMode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rg.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useuserMode:ruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruserMode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:Mode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruserMode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:Mode:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuserMode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuserMode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuserMode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserMode:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuserMode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:ruserMode:Mode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruserMode:Mode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuuserMode:serMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useuserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruserMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuserususerMode:erMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:userMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:userMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->userMode:x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduseuserMode:rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeuserMode::		//useuseruserMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userModuserMode:e:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMuserMode:ode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:Mode:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::ususerMode:euserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruserMode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuserMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuserMode:e:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuserMode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserMode:uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:userMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuserMode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruserMode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuserMode:euserMode:::uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erModeususerMode:eruseuserMode:rModuserMode:euserMode::ModuseruserMode:Mode:euserMode:::uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::rModeususerMode:erModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0], useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::userMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:serMuserMode:ouserMode:de:userMode:userMode:uuseuserMode:rMode:suserMuserMode:ouseruserMouserMode:de:MuserMode:oduserMode:e:deuseruserMode:Mode::erMode:useruserMode:Mode:ususerMode:euserMode:ruuserMode:serMode:userMode:Mode:userMode:useruserMode:ModeuserMouserModeuserMode::deuserMode:ususerMode:euserMode:rModeuserModuserMode:e::::userMode:useuserMouserMode:deuserMode::ruserMode:MouserModeuserMode::de:userModeuuserMode:serMuserMode:ode::ususerModeuserMode::erMode:uuserModeuseruserMode:Mode::seuseuserMode:rMode:rMuserMode:oduserMouserMode:de:e:userMode:useruserModuserMode:e:userMode:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMuserMode:ouserMode:deuserMode:::userMode:userMouserModuserMode:e:useuserModeuserMode::rMode:dususerMode:erMouserMode:de:e:uuserMode:suseuserMode:rMode:erMode:useruserMode:Mode:ususerMode:erMode:useuserMode:ruserModeuuserMode:seuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruserMode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserModeuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:deuserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruserMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususerMode:erMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euserMode:uuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uususerMode:erMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuserMode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::userMode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userMode::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserMode:rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rguserMode:.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useuserMode:ruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruserMode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:Mode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruserMode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::usuuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:Mode:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserMode:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuserMode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuserMode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserMode:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMuserMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouseuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserMode:ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuserMode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:de:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:ouserMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerMode:erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMode:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuserMode:e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuserMode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:ruserMode:Mode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruserMode:Mode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMode:edFouserModeuuserMode:serMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserMode::erMode:ode:euserMode::Mode:useuserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModuseuserMode:rMode:e:rMuserMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:odeuseruserMuserMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruseuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruseuserMode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuserususerMode:erMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:serMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouserMode:userMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:userMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->userMode:x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususerMode:serMuserMode:oduseuserMode:rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMode::		//useuseruserMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userModuserMode:e:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMuserMode:ode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuserMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:ModuserMode:e:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::ususerMode:euserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruserMode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puserMode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuserMode:e:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuserMode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMode:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserMode:uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:userMode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deuseuserMode:rModuseruserMode:Mode:euserMode:::uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erModeususerMode:eruseuserMode:rModuserMode:euserMode::ModuseruserMode:Mode:euserMode:::uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::rModeususerMode:erModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruserMode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruserMode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:ruserModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModuserMode:e:de:::userMode:userMode:uuserMode:seruserMode:MuserMode:ouserMode:de:userMode:userMode:uuseuserMode:rMode:suserMuserMode:ouseruserMouserMode:de:MuserMode:oduserMode:e:deuseruserMode:Mode::erMode:useruserMode:Mode:ususerMode:euserMode:ruuserMode:serMode:userMode:Mode:userMode:useruserMode:ModeuserMouserModeuserMode::deuserMode:ususerMode:euserMode:rModeuserModuserMode:e::::userMode:useuserMouserMode:deuserMode::ruserMode:MouserModeuserMode::de:userModeuuserMode:serMuserMode:ode::ususerModeuserMode::erMode:uuserModeuseruserMode:Mode::seuseuserMode:rMode:rMuserMode:oduserMouserMode:de:e:userMode:useruserModuserMode:e:userMode:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMuserMode:ouserMode:deuserMode:::userMode:userMouserModuserMode:e:useuserModeuserMode::rMode:dususerMode:erMouserMode:de:e:uuserMode:suseuserMode:rMode:erMode:useruserMode:Mode:ususerMode:erMode:useuserMode:ruserModeuuserMode:seuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouserMode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:serMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:Mode:[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: 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rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], 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userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouserMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.userMode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serModeuserMode::de: 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rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuserMode:userMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMode:Mode:",rt->userMode:x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserMode:rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMode::		//useuseruserMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userModuserMode:e:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMuserMode:ode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:rMuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:usususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:ModuserMode:e:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::ususerMode:euserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruserMode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:Mode:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuserMode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserMode:uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruserMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuserMode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:userMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:euserMode:::uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erModeususerMode:eruseuserMode:rModuserMode:euserMode::ModuseruserMode:Mode:euserMode:::uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::rModeususerMode:erModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeuserMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:Mode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:userMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuserMode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:userModeuserModeususerMode:erMoususerMode:erModususerMode:erMode:e:de:::userMode:userMode:uuserMode:seruserMode:MuserMode:ouserMode:de:userMode:userMode:uuseuserMode:rMode:suserMuserMode:ouseruserMouserMode:de:MuserMode:oduserMode:e:deuseruserMode:Mode::erMode:useruserMode:Mode:ususerMode:euserMode:ruuserMode:serMode:userMode:Mode:userMode:useruserMode:ModeuserMouserModeuserMode::deuserMode:ususerMode:euserMode:rModeuserModuserMode:e::::userMode:useuserMouserMode:deuserMode::ruserMode:MouserModeuserMode::de:userModeuuserMode:serMuserMode:ode::ususerModeuserMode::erMode:uuserModeuseruserMode:Mode::seuseuserMode:rMode:rMuserMode:oduserMouserMode:de:e:userMode:useruserModuserMode:e:userMode:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMuserMode:ouserMode:deuserMode:::userMode:userMouserModuserMode:e:useuserModeuserMode::rMode:dususerMode:erMouserMode:de:e:uuserMode:suseuserMode:rMode:erMode:useruserMode:Mode:ususerMode:erMode:useuserMode:ruserModeuuserMode:seuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuserMode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserMode::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerMode:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserMode:rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: 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userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:ModuserMode:e:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::ususerMode:euserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruserMode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userMode:::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:ModuserMode:e:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rMode:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuserMode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMode:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserMode:uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ode:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:userModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:uuserMode:serMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:euserMode:::uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erModeususerMode:eruseuserMode:rModuserMode:euserMode::ModuseruserMode:Mode:euserMode:::uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::rModeususerMode:erModuserMode:e::uuserMode:suserMode:erMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::euserMode:rMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:duseuserMode:rMode:euseuseruseruserMode:Mode:Mode:rMode::uuserMode:seuseuserMode:rModuserMode:euserMode::rMouseruserMode:Mode:duserMode:e:uuserMode:suseruserMode:ModeuserMode::eruserMode:MouseruserMode:Mode:deuseuserModeuserMode::ruseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode::uuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:de:useuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:rMouseruserMode:Mode:deuseuserModeuserMode::rModuserMode:e::uuserMode:serMode:ususeruseruserMode:Mode:Mode:euseruseuserMode:rModeuserMode::ModuserMode:euserMode::rMouseruserMode:Mode:de:useruserususerMode:euseruserMode:ModeuserMode::rMode:ModeuseuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e::Mode:ususeruseruserMode:Mode:Mode:erMode:uuserMode:serMouserMode:deususerMode:euserMode:ruseuseruserMode:Mode:ruserMode:ModuserMode:euseruserMode:ModeuserMode:::Mode::userMouseruserMode:Mode:de:ususerModeuserMode::erMouserMode:de:uuserMode:seuseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:rMouserMode:deususerMode:euserMode:rModuseruserMode:Mode:e::useruserMouserMode:duseruserMode:ModeuserMode::euseruserModeuseruserMode:Mode::ModeuserMode::::uuseruserMode:Mode:ser.cpp:			useuseruseruserMode:Mode:Mode:rMode:			ruseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:t->xtimeuseruseruserMode:Mode:Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:Mode::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:ruserMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuserMode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:rMuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuserMode:rMode:MouserMode:de:rMuserMode:ode:useruserMode:ModeuserModeususerMode:erMoususerMode:erModususerMode:erMode:e:de:::userMode:userMode:uuserMode:seruserMode:MuserMode:ouserMode:de:userMode:userMode:uuseuserMode:rMode:suserMuserMode:ouseruserMouserMode:de:MuserMode:oduserMode:e:deuseruserMode:Mode::erMode:useruserMode:Mode:ususerMode:euserMode:ruuserMode:serMode:userMode:Mode:userMode:useruserMode:ModeuserMouserModeuserMode::deuserMode:ususerMode:euserMode:rModeuserModuserMode:e::::userMode:useuserMouserMode:deuserMode::ruserMode:MouserModeuserMode::de:userModeuuserMode:serMuserMode:ode::ususerModeuserMode::erMode:uuserModeuseruserMode:Mode::seuseuserMode:rMode:rMuserMode:oduserMouserMode:de:e:userMode:useruserModuserMode:e:userMode:userMode:MuserMuserModeuserMode::oduserMode:e:odeuserMuserMode:ouserMode:deuserMode:::userMode:userMouserModuserMode:e:useuserModeuserMode::rMode:dususerMode:erMouserMode:de:e:uuserMode:suseuserMode:rMode:erMode:useruserMode:Mode:ususerMode:erMode:useuserMode:ruserModeuuserMode:seuserMode:rMouserMode:de::Mode:uuseruserModeuserMode::Mode:serMode:uuserMode:seruseruuserMode:serMuserMode:odeuseruserMode:Mode:userModuserMode:e::userMuserMode:ouseruserMode:Mode:de:Mode:MouserMode:userModuserMode:e:de:userMode:uuserModeuserMode::serMode:usuuuserMode:serMode:serMode:eruuserMode:serMode:ModuserususerMode:erModuserMode:e:Mode:e:useuserMode:rMouserModuserMode:e:de:userMode:uuserMode:serMuseruserMode:ModeuserMode::odeususerMode:erModeuuserMode:serMode:::useruserMode:ususerMouserMouserMode:de:deususeruserMode:MouserMode:duserMode:euserMode::erMuserMode:ode::erMode:userMode:Mode:userMode:usususerMode:erModuserMode:e:eruserMode:Mode:useususerMode:erMode:rMode:userMode:useruserMode:Mode:userModeuserModuseruserMode:Mode:euserususerMode:erMode:Mode:::useususerMode:erMouserMode:de:ruserMode:ModuserMode:e:uuserMode:serususerMode:eruserMuserMode:userMode:ode:ModuseuuseuserMode:ruseruserModeuserMode::Mode:Mode:serMode:rMode:e:ModuseruserMode:MouserMode:de:e:useuserMouserMode:userMode:de:userMode:ruserMode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userModeuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:Mode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruserMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:e:deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususerMode:erMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euserMode:uuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uususerMode:erMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuserMode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::userMode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:de::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userModeuserMode:::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserModeuserMode::rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rguserMode:.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useuserMode:ruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 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userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:ModuserMode:e:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::ususerMode:euserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruserMode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userModeuserMode::::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:ModuserMode:e:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:useruserMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuserMode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userMode:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserMode:uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:				rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruserMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruserMode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruserMode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMouserModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::userModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uuserMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userususerMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususerMode:erMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euserMode:uuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uususerMode:erMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuserMode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::userMode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::deuserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:deuserMode:::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userModeuserMode:::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserModeuserMode::rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rguserMode:.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useuserMode:ruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruserMode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:Mode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouserMode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuserMode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuserMode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuserMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuserMode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerMode:erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuserMode:e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuserMode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:			userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.userMode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: 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rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserMode:rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMode::		//useuseruserMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userModuserMode:e:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMuserMode:ode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt->jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]userMode:useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:ModuserMode:e:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::ususerMode:euserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruserMode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuserMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:userMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userModeuserMode::::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:ModuserMode:e:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:eruseruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuserMode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuserMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserMode:uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:Mode::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerMode:euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruseruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouserMode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModuserModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModeuserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:Mode:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iuseuserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserModeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuserMode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususerMode:erMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euserMode:uuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uususerMode:erMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuserMode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::userMode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuseruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::duserMode:euserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:deuserMode:::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userModeuserMode:::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserModeuserMode::rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rguserMode:.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useuserMode:ruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruserMode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:Mode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:userModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserModeuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouserMode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuserMode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuserModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuserMode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuserMode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMode::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuserMode:e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuserMode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserMode:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.userMode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:ruserMode:Mode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuseuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruserMode:Mode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserModeuserMode::edFouserModeuuserMode:serMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:useuserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMuserMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:euseruserMuserMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruuserMode:seuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruseuserMode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuserususerMode:erMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuserMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useususerMode:erMode:rModeuserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserMode:rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMode::		//useuseruserMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userModuserMode:e:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMuserMode:ode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]userMode:useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:ModuserMode:e:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::ususerMode:euserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruserMode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuseuserMode:rMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:userMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userModeuserMode::::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:ModuserMode:e:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:Mode:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuserMode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruserMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserMode:uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouserModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouserMode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserMode:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserMode:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserModuserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:userMode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouserMode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:eruserMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: 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userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:ModuserMode:e:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::ususerMode:euserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:Mode:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruserMode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:userMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuseuserMode:rMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:userMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userModeuserMode::::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:ModuserMode:e:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:userModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuserMode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruserMode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserMode:uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:ruserMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:Mode:rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deuseruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususerMode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuserMode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuserMode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMode:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erModuserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuserMode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserMode:ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususerMode:erMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euserMode:uuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uususerMode:erMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuserMode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::useruserMode:Mode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuuserMode:seruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::duserMode:euserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:deuserMode:::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userModeuserMode:::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserModeuserMode::rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rguserMode:.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useuserMode:ruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruserMode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:Mode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuserMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouserMode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuserMode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususerMode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruserMode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuserMode:e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:ruserMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.userMode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serModeuserMode::de: 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rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserModeuserMode::edFouserModeuuserMode:serMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:useuserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMuserMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:euseruserMuserMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruuserMode:seuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruseuserMode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuserususerMode:erMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuseuserMode:rMode:rMode:1], 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rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserMode:rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMode::		//useuseruserMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userModuserMode:e:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMuserMode:ode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:			userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]userMode:useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, 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57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:Mode:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerMode:erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: 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ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserMode:uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:useruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruserMode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:ruseuseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouserMode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserMode:Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserMode:de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::ruseuserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:serMode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rMode:d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serMode:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userMode:ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususerMode:erMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euserMode:uuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uususerMode:erMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuserMode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserMode:Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:userMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::useruserMode:Mode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuuserMode:seruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::duserMode:euserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:deuserMode:::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userModeuserMode:::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserModeuserMode::rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rguserMode:.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useuserMode:ruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruserMode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:Mode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerMode:erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuseuserMode:rMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouserMode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuserMode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeususerMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruserMode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserMode:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:serModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuserMode:e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuserMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userMode:de:uuserMode:seuserModuserMode:e:userMode:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.userMode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:serMode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouseruserModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:ruserMode:Mode:Mode:useruuserMode:serMode:Mode:userMode:uuserMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserModeuserMode::edFouserModeuuserMode:serMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:useuserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMuserMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:euseruserMuserMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruuserMode:seuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruseuserMode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuserususerMode:erMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userMode:rMouserMode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModeuserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMuserMode:ode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuseuserMode:rMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useususerMode:erMode:rModuserMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserMode:rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMode::		//useuseruserMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userModuserMode:e:e:rMouserMode:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMuserMode:ode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:userModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]userMode:useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:ModuserMode:e:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::ususerMode:euserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userModeuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:MouserMode:de:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruseruserMode:Mode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:userMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuseuserMode:rMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:userMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userModeuserMode::::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:ModuserMode:e:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserMode:Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerMode:erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerMode:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserMode:uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruseuserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususerMode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMode:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:userModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeuserMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rModuserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruserMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMode:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuserMode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeuserMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususerMode:erMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euserMode:uuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uususerMode:erMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuserMode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruserMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserModeuserMode::Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:userMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::useruserMode:Mode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuuserMode:seruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::duserMode:euserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:deuserMode:::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userModeuserMode:::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserModeuserMode::rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rguserMode:.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useuserMode:ruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 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57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:ModuserMode:e:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:userMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::ususerMode:euserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMode:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userMouserMode:deuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:MouserMode:de:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruseruserMode:Mode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:userMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuseuserMode:rMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:userMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userModeuserMode::::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:ModuserMode:e:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserModeuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerMode:erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserMode:suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:odeuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserMode:uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruserususerMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMode:Mode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuserMode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModeuserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserMode:Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususerMode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruserMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMode:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:rMuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserMode:userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserMode:euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euserMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:userMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususerMode:erMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euserMode:uuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uususerMode:erMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuserMode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouserMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruseuserMode:rMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserModeuserMode::Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:userMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::useruserMode:Mode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuuserMode:seruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::duserMode:euserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:deuserMode:::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userModeuserMode:::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserModeuserMode::rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rguserMode:.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useuserMode:ruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruserMode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:Mode::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseuserMode:ruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerModeuserMode::erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuseuserMode:rMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouserMode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuserMode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruserMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruserMode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], 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userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.userMode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serModeuserMode::de: 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rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserModeuserMode::edFouserModeuuserMode:serMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:useuserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMuserMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:euseruserMuserMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruuserMode:seuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruseuserMode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuserMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMode:de:uuserususerMode:erMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:e:forceuseuserMode:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userModeuserMode::rMouserMode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModuserMode:euserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMuserMode:ode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuseuserMode:rMode:rMode:1], 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rususerMode:eruuserMuserMode:ode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]userMode:useuserMode:rMuserMuserMode:ode:ode:, 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5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouserMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserMode:uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruserususerMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:Mode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMode:MuserMode:ode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuserMode:e:useruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruserMode:Mode:erMode:useuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0userMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruserMode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=ususerModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:userMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:Mode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserMode:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:			userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususerMode:erMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euserMode:uuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uususerMode:erMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuserMode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuserMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouuserMode:serMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruseuserMode:rMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserModeuserMode::Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:userMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::useruserMode:Mode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuuserMode:seruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::duserMode:euserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:deuserMode:::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userModeuserMode:::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserModeuserMode::rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rguserMode:.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useuserMode:ruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruserMode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:ModeuserMode:::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseuserMode:ruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerModeuserMode::erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuseuserMode:rMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouserMode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuserMode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userModeuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruserMode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMode:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serModuserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuserMode:e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeususerMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouserMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userMode:de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.userMode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);userModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouserususerMode:erModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:ruserMode:Mode:Mode:useruuserMode:serMode:Mode:userMode:uususerMode:erMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: 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rususerMode:eruuserMuserMode:ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]userMode:useuserMode:rMuserMuserMode:ode:ode:, 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57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerMode:erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: 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5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 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userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususerMode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserMode:Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususerMode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuserMode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserMode::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMode:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeuserMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuseuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserMode:e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: 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ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]userMode:useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:ModuserMode:e:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:ususerMode:erMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::ususerMode:euserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserMode:userModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMouserMode:de:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userMouserMode:deuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:MouserMode:de:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruseruserMode:Mode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:userMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuseuserMode:rMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:userMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userModeuserMode::::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:ModuserMode:e:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:Mode:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerMode:erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserModuserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuserMode:serMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-userMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserMode:uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruserususerMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuserMode:ouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMode:MuserMode:ode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::userModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duserMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuserususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuserMode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserMode:serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruserMode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruserMode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMode:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouserMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususerMode:erMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euserMode:uuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uususerMode:erMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruserMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuseruserMode:Mode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuseuserMode:rMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouuserMode:serMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruseuserMode:rMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserModeuserMode::Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:userMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::useruserMode:Mode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuuserMode:seruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::duserMode:euserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:deuserMode:::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userModeuserMode:::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserModeuserMode::rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rguserMode:.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useuserMode:ruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruserMode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:Mode:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseuserMode:ruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:userMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:ModeuserMode:::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseuserMode:ruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerModeuserMode::erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuseuserMode:rMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouserMode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userModuserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruserMode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:userMode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouserMode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuserMode:e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserModuserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userMode:de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.userMode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuserMode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouserususerMode:erModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:ruserMode:Mode:Mode:useruuserMode:serMode:Mode:userMode:uususerMode:erMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserModeuserMode::edFouserModeuuserMode:serMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:useuserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMuserMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:euseruserMuserMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruuserMode:seuseruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruseuserMode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuuserMode:serMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMuserMode:ode:de:uuserususerMode:erMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:userMode:e:forceuseuserMode:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userModeuserMode::rMouserMode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModuserMode:euserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMuserMode:ode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuseuserMode:rMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useususerMode:erMode:rModuserMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuserMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserMode:rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMode::		//useuseruseuserMode:rMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userModuserMode:e:e:rMouserMouserMode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMuserMode:ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]userMode:useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:ModuserMode:e:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:ususerMode:erMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::ususerMode:euserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserMode:userModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMouserMode:de:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userMouserMode:deuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:MouserMode:de:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruseruserMode:Mode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:userMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuseuserMode:rMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:userMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userModeuserMode::::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.useruserMode:ModuserMode:e:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerMode:erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: 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userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuserMode:serMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:userMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserMode:uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruserususerMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMuserMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuserMode:ouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMode:MuserMode:ode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerMode:erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserMode:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMode:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:], rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuserMode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserMode:e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-userMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserMode:o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserMode::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususerMode:erMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euserMode:uuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uususerMode:erMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserMode:erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruseuserMode:rMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuseruserMode:Mode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuseuserMode:rMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouuserMode:serMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruseuserMode:rMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserModeuserMode::Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:userMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::useruserMode:Mode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuuserMode:seruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::duserMode:euserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:deuserMode:::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userModeuserMode:::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserModeuserMode::rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rguserMode:.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useuserMode:ruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruserMode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeuserMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:ModuserMode:e:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseuserMode:ruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:userMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:ModeuserMode:::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseuserMode:ruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerModeuserMode::erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuseuserMode:rMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouserMode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruserMode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouserMode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuserMode:e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuserMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userMode:de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.userMode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: 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rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useususerMode:erMode:rModuserMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: 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rususerMode:eruuserMuserMode:ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMode:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]userMode:useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:ModuserMode:e:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:ususerMode:erMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::ususerMode:euserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserMode:userModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMouserMode:de:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userMouserMode:deuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:MouserMode:de:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruseruserMode:Mode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:userMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuseuserMode:rMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:userMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:userModeuserMode::::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.ususerMode:eruserMode:ModuserMode:e:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerMode:erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuserMode:serMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuserMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserMode:uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruserususerMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMode:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuserMode:ouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMode:MuserMode:ode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuserMode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:Mode:ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuserMode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuserMode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseuserMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userMode: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuserMode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuserMode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususerMode:erMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euserMode:uuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruserMode:Mode:ususerMode:erMode:uususerMode:erMode:suserModuseruseruserMode:Mode:Mode:e:euserMode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserModeuserMode::erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruseuserMode:rMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuseruserMode:Mode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuseuserMode:rMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouuserMode:serMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruseuserMode:rMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserModeuserMode::Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:userMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::useruserMode:Mode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuuserMode:seruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::duserMode:euserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:deuserMode:::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userModeuserMode:::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserModeuserMode::rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rguserMode:.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useuserMode:ruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruserMode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]useuserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeususerMode:erMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:ModuserMode:e:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseuserMode:ruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:userMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:ModeuserMode:::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseuserMode:ruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerModeuserMode::erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuseuserMode:rMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouserMode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuseuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruserMode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1userMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-userMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouserMode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeususerMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuserMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserMode:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:de:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuserMode:e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuuserMode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userMode:de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:Mode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMode:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.userMode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouserususerMode:erModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:ruserMode:Mode:Mode:useruuserMode:serMode:Mode:userMode:uususerMode:erMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserModeuserMode::edFouserModeuuserMode:serMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:useuserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMuserMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:euseruserMuserMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruuserMode:seususerMode:eruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruseuseruserMode:Mode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuuserMode:serMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMuserMode:ode:de:uuserususerMode:erMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:userMode:e:forceuseuserMode:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userModeuserMode::rMouserMode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModuserMode:euserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMuserMode:ode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuseuserMode:rMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserMode::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useususerMode:erMode:rModuserMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuserMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouserMode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: rt-useruserMode:MouseuseuserMode:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:ode:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserModeuserMode::rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMode::		//useuseruseuserMode:rMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userModuserMode:e:e:rMouserMouserMode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMuserMode:ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruserModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:serMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserMode:e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserMode:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]userMode:useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:ModuserMode:e:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:ususerMode:erMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::ususerMode:euserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserMode:userModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMouserMode:de:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userMouserMode:deuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:MouserMode:de:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruseruserMode:Mode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:userMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuseuserMode:rMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouserMode:userMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:useuserMode:rModeuserMode::::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.ususerMode:eruserMode:ModuserMode:e:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerMode:erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruserMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuserMode:serMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:userMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserMode:uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruserususerMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuserMode:ouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMode:MuserMode:ode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruserMode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:Mode:ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruserMode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuserMode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuserMode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerMode:erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuserMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuserMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:useruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: 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57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:ModuserMode:e:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:ususerMode:erMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::ususerMode:euserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserMode:userModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMouserMode:de:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userMouserMode:deuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:MouserMode:de:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruseruserMode:Mode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:userMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuseuserMode:rMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouseruserMode:Mode:userMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:useuserMode:rModeuserMode::::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.ususerMode:eruserMode:ModuserMode:e:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerMode:erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->useruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuserMode:serMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuseuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserMode:uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruserususerMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userModeuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuserMode:ouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMode:MuserMode:ode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:euseuseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: useuseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModuserMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuserMode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserMode::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserMode:ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serMode:userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:Mode:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:Mode::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususerMode:erMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouserModuserMode:euserMode:uuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruseuserMode:rMode:Mode:ususerMode:erMode:uususerMode:erMode:suserModuseruseruserMode:Mode:Mode:e:euseruserMode:Mode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserModeuserMode::erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruseuserMode:rMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuseruserMode:Mode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuseuserMode:rMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouuserMode:serMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruseuserMode:rMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserModeuserMode::Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:userMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::useruserMode:Mode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuuserMode:seruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::duserMode:euserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:deuserMode:::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userModeuserMode:::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserModeuserMode::rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rguserMode:.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useuserMode:ruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserMode:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]ususerMode:euserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeususerMode:erMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:ModuserMode:e:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseuserMode:ruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:userMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:ModeuserMode:::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseuserMode:ruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerModeuserMode::erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuseuserMode:rMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouserMode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuseruserMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruserMode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1userMode:], 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userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:ModuserMode:e:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:ususerMode:erMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::ususerMode:euserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserMode:userModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMouserMode:de:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userMouserMode:deuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:MouserMode:de:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruseruserMode:Mode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:userMode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuseuseruserMode:Mode:rMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouseruserMode:Mode:userMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:useuserMode:rModeuserMode::::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.ususerMode:eruserMode:ModuserMode:e:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerMode:erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1ususerMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserMode:seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuserMode:serMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserMode:uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruserususerMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:Mode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuserMode:ouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMode:MuserMode:ode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuserMode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouserMode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =userMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserMode:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:Mode:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususerMode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserMode:e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:serModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuserMode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rModeususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususerMode:erMode:userMouserMode:duserMode:e:e:rMuserMode:odeuserMouserMode:deususerMode:erMouseuserMode:rModuserMode:euserMode:uuserMode:seuserMode:rMuserMode:ode::de:::uuserModuserMode:e:seruseuserMode:rMode:Mode:ususerMode:erMode:uususerMode:erMode:suserModuseruseruserMode:Mode:Mode:e:euseruserMode:Mode:rMuserMode:userMode:oduserMode:euserMode::usuuserMode:seruserMode:uuserMode:suserModeuserMode::erMode:MouuseruserMode:Mode:seruserModeuseruseuserMode:rMode:Mode::userMode:Mode:de:eruseuserMode:rMouserModuserMode:e:de:MuserMode:oususeruserMode:MuserMode:userMode:ode:erMode:de:useuseruserMode:Mode:rMuseruserModeuserMode:userMode::userMode:Mode:oduserMode:e:userMode:userModeususeuseuserMode:rMode:rMode:eruserMode:Mode::userModuserMode:euserMode::uuseruserMode:Mode:userModeuserMouuserMode:serMode:de:userMode::suserMode:euserMode:uuserMode:serModuseruseuserMode:rMode:Mode:e:ruseuserMode:rMode:uuserMode:serMode:ModususeuserMode:rMode:eruuserMode:serMode:Mode:e:useruseruserModeuserMode::Mode:uuseruserMode:Mode:serMouserMode:de:ModeuserModuserMode:e:useruserMode:Mode::ususerMuserMode:userMode:uuserMode:serModeuserModuserMode:e::ode:euserModeuserMode:userModuserMode:e::useruserMode:Mode:rMode:useuserMode:rModeuserMode:userMouserMode:de::userModeususeuserMode:rMode:erModuuserMode:seruserMode:MouserMode:de:e::useruserMode:MoususerMode:erMouserMouserMode:de:deuserMode::duserMode:euserMouseruseruserMode:ModuserMuserMode:ode:e:userMouserMode:deuserMode::Mode:userMode:deuserMode:::userModuseruserMode:Mode:e:useruserMouserModeuseuserMode:ruserMode:Mode::de:ModeuserMode:userModeuserMode:::useruserMode::useuseruserModuserModeuserMode::uuserMode:suserMode:erMuserMode:ode:e:MuuseuserModeuserMode::rModeuserMode::serMode:ode:rMode:userMode:usususerMode:erMuserMode:userMode:odeuserMode::userMode:userMode:euserMode:rMuserMode:ode:printeuserMode:ususerMode:erModeuserMouserMode:de::ruserMode:_ouserMode:rguserMode:.cppuususeuserMode:rMode:erMode:userMouserMode:userMode:de:serMouserMode:de::	userModeuserMode::useuserMode:ruserMode:Mode:				userMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]ususerMode:euserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeususerMode:erMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:ModuserMode:e:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseuserMode:ruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:userMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:ModeuserMode:::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseuserMode:ruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerModeuserMode::erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuseuserMode:rMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouserMode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:userModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuserususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruserMode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		ususerModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], 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userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siususeuserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0userMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rModuserMode:e:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.useruserMode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: 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57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:ModuserMode:e:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:ususerMode:erMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::ususerMode:euserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserMode:userModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMouserMode:de:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userMouserMode:deuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:MouserMode:de:useuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruseruserMode:Mode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:useruserMode:Mode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuseuseruserMode:Mode:rMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouseruserMode:Mode:userMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:useuserMode:rModeuserMode::::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.ususerMode:eruserMode:ModuserMode:e:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserMode:e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5ususeuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerMode:erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserMode:seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuserMode:serMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userMode::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserMode:ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userMode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserMode:uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruserususerMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:ModeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuserMode:ouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMode:MuserMode:ode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:userModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:ususerMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoal[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->userMode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuserMode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuserMode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uususerMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuserMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserMode::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuserModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserMode::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rt->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]ususerMode:euserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeususerMode:erMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:ModuserMode:e:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseuserMode:ruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:userMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:ModeuserMode:::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseuserMode:ruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerModeuserMode::erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuseuserMode:rMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouserMode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::pruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:useuserMode:rModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuserususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruserMode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMouserMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouserMode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], 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rususerMode:eruuserMuserMode:ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuserMode:[1], 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ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: 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rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuserMode:ouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMode:MuserMode:ode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuserMode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuserMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->userMode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMode:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuserMode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserMode:Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruserMode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:houseruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::serMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMouserModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserMode:ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]ususerMode:euserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeususerMode:erMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:ModuserMode:e:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseuserMode:ruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:userMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:ModeuserMode:::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseuserMode:ruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerModeuserMode::erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuseuserMode:rMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserMode:Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouserMode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::puserMode:ruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:useuserMode:rModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuserususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruserMode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userMode:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouserMode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userMode:rMode:oduserMode:euserMode:dususerMode:erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:		userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserMode:Mode:e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuuserMode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userMode:de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerMode:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:Mode::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rModuserMode:e:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.useruserMode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouserususerMode:erModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:ruserMode:Mode:Mode:useruuserMode:serMode:Mode:userMode:uususerMode:erMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MuserMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuserMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouserMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserModeuserMode::edFouserModeuuserMode:serMode:userMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMususerMode:erMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:euseruserMuseuserMode:rMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruuserMode:seususerMode:eruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruseuseruserMode:Mode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuuserMode:serMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMuserMode:ode:de:uuserususerMode:erMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:userMode:e:forceuseuserMode:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userModeuserMode::rMouserMode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruserMode:ModuserMode:e:userMode:de:userMuseruserModuserMode:euserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModuseuserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMuserMode:ode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduserMode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuseuserMode:rMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserModuserMode:e::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useususerMode:erMode:rModuserMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuseuserMode:rMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouseruserMode:Mode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: rt-useruserMode:MouseuseuserModuserMode:e:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserModeuserMode::rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMode::		//useuseruseuserMode:rMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userModuserMode:e:e:rMouserMouserMode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMuserMode:ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuseuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:serMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuserMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruseruserMode:ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]userMode:useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:ModuserMode:e:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:ususerMode:erMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::ususerMode:euserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserMode:userModuserMode:e:de:userMode:userMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMouserMode:de:usuuserMode:seruserMode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userMouserMode:deuserMode::uuserModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:MouserMode:de:uuserMode:seuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruseruseruserMode:Mode:Mode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:useruserMode:Mode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuseuseruserMode:Mode:rMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouseruserMode:Mode:userMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:useuserMode:rModeuserMode::::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.ususerMode:eruserMode:ModuserMode:e:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:ModuserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerMode:erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserMode:seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuserMode:serMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuserModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userMode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruserususerMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuserMode:ouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FuserModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruserMode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userMode:rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerMode:erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruserMode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserMode:de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:Mode:de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		userMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 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57.3*rt->useruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erMode:e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerMode:erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserMode:seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuserMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuserMode:serMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userMode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuserModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruserususerMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuserMode::FususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:			userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususerMode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:Mode:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuserMode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userMode:);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:serMuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserMode:rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: userModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]ususerMode:euserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeususerMode:erMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:ModuserMode:e:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseuserMode:ruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:userMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:ModeuserMode:::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseuserMode:ruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerModeuserMode::erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuseuserMode:rMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserModeuserMode::Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouseruserMode:Mode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::puserMode:ruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:useuserMode:rModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuserususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruserMode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouserMode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouserMode:de:userModeuserModuserMode:e::userModeuserMouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerMode:erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserMode:Mode:e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuuserMode:serMouserMode:de:::], 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rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n", userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:Mode:ModeuseruserMode:Mode::FususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserMode:NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::Mode:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:Mode:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuserMode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruserMode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserMode:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:ModuserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouserMode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserMode:euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:orguserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserMode:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]ususerMode:euserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeususerMode:erMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:ModuserMode:e:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseuserMode:ruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:userMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:ModeuserMode:::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseuserMode:ruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerModeuserMode::erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuseuserMode:rMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserMode:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:Mode:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:userMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserModeuserMode::Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouseruserMode:Mode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::puserMode:ruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:useuserMode:rModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuserususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruserMode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModeuseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouserMode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMode:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[userMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerMode:erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserMode:Mode:e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuuserMode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userMode:de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rModuserMode:e:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.useruserMode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:userMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMode:erModeuserMode::uuserMode:seuserMode:rMouserususerMode:erModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:ruserMode:Mode:Mode:useruuserMode:serMode:Mode:userMode:uususerMode:erMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MususerMode:erMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuuserMode:serMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserModeuserMode::edFouserModeuuserMode:serMode:userMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMususerMode:erMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:euseruserMuseuserMode:rMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruuserMode:seususerMode:eruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruseuseruserMode:Mode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuuserMode:serMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:erMode:MouserMuserMode:ode:de:uuserususerMode:erMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruserMode:Mode::rt->userMouserMode:duserMode:userMode:e:forceuseuserMode:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:userMode:MuserMode:ode:useuserMode:userModeuserMode::rMouserMode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruuserMode:serMode:ModuserMode:e:userMode:de:userMuseruserModuserMode:euserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModususerMode:euserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMuserMode:ode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduseruserMode:Mode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuseuserMode:rMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserModuserMode:e::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useususerMode:erMode:rModuserMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuseuserMode:rMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouseruserMode:Mode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: rt-useruserMode:MouseuseuserModuserMode:e:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserModeuserMode::rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMode::		//useuseruseuserMode:rMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userModuserMode:e:e:rMouserMouserMode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMuserMode:ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruseruserMode:ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]userMode:useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:useuserMode:ruseuserMode:ruserMode:ModuserMode:e:MuserMode:ousuuserMode:suserMode:eruserMode:userMode:MuserMode:ususerMode:erMode:ode:userMode:erModeuserMode::deuseruseruserMode:ModuserMode:e:MuserMode:odeuserMode:::ususerMode:euserMuserMode:ode:rMuserMode:oduserMode:e:useuserMode:rMouserMode:userModuserMode:e:de:userMode:uuserMode:serMuserModeuserMode::ouserMode:de:useuserModeuserMode:userMode::rModuseruserMode:Mode:e:userModeuserMode:userMode::userMode:userMouserMode:de:usuuserMode:seruseruserMode:Mode:Mode:erModuserMode:eususerMode:useruserMode:Mode:erMode:userMuserMode:odeususerMode:erMode:useruserMode:Mode::useruserMode:Mode::userMouserMode:deuserMode::uuserMode:userModeusuuserMode:serMode:erModuserMode:e::seruuuserMode:serMode:serModeuseruserMode:userMode:ModeuserMode:::userMode:useuseruserMode:Mode:rMode:MouserMode:de:uuserMode:seuserModeuseuserMode:rMouserMode:duseuserMode:rMode:e::ruserMouserMode:de:MuserMuuserMode:serMode:ode:ouserMode:deuserMode::userMode:userMode:useruseuseruseruseruserMode:Mode:Mode:Mode:rMode:Mode:useuserMouseruserMode:Mode:de:rModeuseruserMode:Mode:userMode::userMouserMode:de:useruserMoususerMouserMode:de:erMode:de:MuserMode:ouserMode:useruserMode:Mode:de:useusususeruserMode:Mode:userMode:erMode:euseruserMode:Mode:rMususerMode:eruserMode:MuseruserMode:Mode:ode:oduuserMode:serModuseuserMode:rMode:e:e:ruserModeuseuseruserMode:Mode:rMode::MuserMode:userMode:oduseruserMode:Mode:e:userMode:useuserMode:rModeuserMuserMode:ode::useuserMode:rMuserMode:uuserMode:seuserMuseruserMode:Mode:ode:rMode:ouseruserMode:Mode:userMode:de:useruserMode:Mode:userModuseuserMouseruserMode:Mode:de:rMode:ususerMode:erModeuseuserMode:rMouserMode:userMode:de::euuserMode:userMode:serModeuserMode:useuserMode:rModeuserMode::::userModeuserMode::usususerMode:erMode:euserModeuseususeruserMode:Mode:erMode:rMode::rMode:useruserMode::pruserMode:inteuuserMode:seruserMode:Mode:r_org.ususerMode:eruserMode:ModuserMode:e:cpuususerMouserModeuserMode::de:eruseruserModuserMode:e:Mode:MuseruserMode:Mode:ode:seuserMode:rModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruserMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerMode:erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserMode:seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuserMode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userMode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuserModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruserususerMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruserMode:ModeuserMode::ModeuseruserMode:Mode::FususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuserMode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserMode:ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rt-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuserMode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserMode:MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModeuserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:main.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserMode:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuserMode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:erMode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 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57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerMode:erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserMode:seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserMode:es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userMode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:oduserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruserususerMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::FususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:Mode:e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuserMode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserModeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuserMode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:ModeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,userModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:ode:ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:ususerModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuserMode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt->juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]ususerMode:euserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeususerMode:erMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:ModuserMode:e:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseuserMode:ruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:userMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:ModeuserMode:::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseuserMode:ruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerModeuserMode::erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuseuserMode:rMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserModuserMode:e:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:MouserMode:de:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:userMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserModeuserMode::Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouseruserMode:Mode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::puserMode:ruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:useuserMode:rModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuserususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:Mode:erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruserMode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouserMode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerMode:erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserMode:Mode:e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuuserMode:serMouserMode:de:::], 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userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rModuserMode:e:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.useruserMode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuseruserMode:Mode:e:serModeuserMode::de: 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rt-useruserMode:MouseuseuserModuserMode:e:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserModeuserMode::rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMode::		//useuseruseuserMode:rMode:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruseruserMode:ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]userMode:useuserMode:rMuserMuserMode:ode:ode:, 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5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerMode:erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserMode:seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserMode:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: 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5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userMode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: 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userMode:rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruserususerMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserMode:userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =userMode: useuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::FususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rModuseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMode:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususerMode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserMode::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususerModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s 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=userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduserusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euserMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuserMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]ususerMode:euserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeususerMode:erMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:ModuserMode:e:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseuserMode:ruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:userMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:ModeuserMode:::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseuserMode:ruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerModeuserMode::erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:de:useruserMode:ModeuseuserMode:rMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuserMode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseuserMode:ruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserModuserMode:e:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:MouserMode:de:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:userMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserModeuserMode::Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouseruserMode:Mode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::puserMode:ruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:useuserMode:rModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuserususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:Mode:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:euserMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruserMode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouserMode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suserModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userMode:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerMode:erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserMode:Mode:e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuuserMode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:useuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rModuserMode:e:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.useruserMode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[userModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:ode:erModeuserMode::uuserMode:seuserMode:rMouserususerMode:erModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:userMode:ruserMode:Mode:Mode:useruuserMode:serMode:Mode:userMode:uususerMode:erMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MususerMode:erMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuuserMode:serMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserModeuserMode::edFouserModeuuserMode:serMode:userMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMususerMode:erMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:euseruserMuseuserMode:rMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruuserMode:seususerMode:eruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:eruseuseruserMode:Mode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMode:de:e:e:e:uuuserMode:serMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:userMode:erMode:MouserMuserMode:ode:de:uuserususerMode:erMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruseuserMode:rMode:Mode::rt->userMouserMode:duserMode:userMode:e:forceuseuserMode:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:ususerMode:erMode:MuserMode:ode:useuserMode:userModeuserMode::rMouserMode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruuserMode:serMode:ModuserMode:e:userMode:de:userMuseruserModuserMode:euserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModususerMode:euserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMuserMode:ode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduseruserMode:Mode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuseuserMode:rMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserModuserMode:e::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useususerMode:erMode:rModuserMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuseuserMode:rMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouseruserMode:Mode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: rt-useruserMode:MouseuseuserModuserMode:e:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:ode:userMode:0useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserModeuserMode::rMode:e:useruserModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruseruserMode:ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerModeuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0]userMode:useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuserMode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerMode:erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserMode:seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:serMode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userMode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruserMode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruserususerMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rMode:e =useruserMode:Mode: useuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::FususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususerMode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMode:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuserMode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuserMode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruserMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuserMode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserMode:Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:userMode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::de:odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 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userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userMode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMode:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruserususerMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouserMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuserMode:rModuserMode:e:e =useruserMode:Mode: useuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::FususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModeuserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruserMode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euserMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuserMode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userMode:,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:userMuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euserMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]ususerMode:euserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeususerMode:erMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:ModuserMode:e:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseuserMode:ruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:userMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:ModeuserMode:::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseuserMode:ruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuseruususerModeuserMode::erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:userMode:de:useruserMode:ModeuseuserMode:rMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuseruserMode:Mode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseuserMode:ruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserModuserMode:e:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:MouserMode:de:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:userMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserModeuserMode::Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouseruserMode:Mode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::puserMode:ruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:useuserMode:rModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuserususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuserMuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruserMode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouserMode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerMode:erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserMode:Mode:e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuuserMode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserMode:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rModuserMode:e:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.useruserMode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:userMouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:ode:erModeuserMode::uuserMode:seuserMode:rMouserususerMode:erModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:userMode:ruserMode:Mode:Mode:useruuserMode:serMode:Mode:userMode:uususerMode:erMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MususerMode:erMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuuserMode:serMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserModeuserMode::edFouserModeuuserMode:serMode:userMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMususerMode:erMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:euseruserMuseuserMode:rMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruuserMode:seususerMode:eruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erususerMode:euseruserMode:Mode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMouserMode:de:de:e:e:e:uuuserMode:serMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:userMode:erMode:MouserMuserMode:ode:de:uuserususerMode:erMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruseuserMode:rMode:Mode::rt->userMouserMode:duserMode:userMode:e:forceuseuserMode:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:ususerMode:erMode:MuserMode:ode:useuserMode:userModeuserMode::rMouserMode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruuserMode:serMode:ModuserMode:e:userMode:de:userMuseruserModuserMode:euserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModususerMode:euserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMuserMode:ode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduseruserMode:Mode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuseuserMode:rMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserModuserMode:e::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useususerMode:erMode:rModuserMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuseuserMode:rMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouseruserMode:Mode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: rt-useruserMode:MouseuseuserModuserMode:e:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMode:userMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:ode:userMode:0userMode:useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserModeuserMode::rMode:e:useruserMode:userModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruseruserMode:ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuserMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuserMode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerMode:erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserMode:seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:userMode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruserususerMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erModuseuseruserMode:Mode:rModuserMode:e:e =useruserMode:Mode: useuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::FususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->userMouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::Mode:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserMode::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruserMode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:userMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:Mode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruserMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:pp:			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:userMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMususerMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]ususerMode:euserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeususerMode:erMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:ModuserMode:e:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseuserMode:ruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:userMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:ModeuserMode:::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userModeuseuserMode:ruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuuserMode:seruususerModeuserMode::erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:userMode:de:useruserMode:ModeuseuserMode:rMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuseruserMode:Mode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseuserMode:ruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserModuserMode:e:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:MouserMode:de:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:userMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserModeuserMode::Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouseruserMode:Mode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::puserMode:ruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:useuserMode:rModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuserususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserModeuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruserMode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userMode:de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerMode:erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserMode:Mode:e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuuserMode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rModuserMode:e:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.useruserMode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userMode:rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:ode:erModeuserMode::uuserMode:seuserMode:rMouserususerMode:erModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:userMode:ruserMode:Mode:Mode:useruuserMode:serMode:Mode:userMode:uususerMode:erMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MususerMode:erMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuuserMode:serMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserModeuserMode::edFouserModeuuserMode:serMode:userMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMususerMode:erMode:ode:Mode:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:euseruserMuseuserMode:rMode:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruuserMode:seususeruserMode:Mode:eruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erususerMode:euseruserMode:Mode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMouserMode:de:de:e:e:e:uuuserMode:serMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:userMode:erMode:MouserMuserMode:ode:de:uuserususerMode:erMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruseuserMode:rMode:Mode::rt->userMouserMode:duserMode:userMode:e:forceuseuserMode:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:ususerMode:erMode:MuserMode:ode:useuserMode:userModeuserMode::rMouserMode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruuserMode:serMode:ModuserMode:e:userMode:de:userMuseruserModuserMode:euserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModususerMode:euserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMuserMode:ode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduseruserMode:Mode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuseuserMode:rMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserModuserMode:e::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useususerMode:erMode:rModuserMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuseuserMode:rMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouseruserMode:Mode:deuserMuseuserMode:rMode:ode::uuserMouserMode:de:suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: rt-useruserMode:MouseuseuserModuserMode:e:rMode:rMode:serMuserMode:oduseruserMode:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMode:uuserMode:serMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:ode:userMode:0userMode:useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserModeuserMode::rMode:e:useruserMode:userModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruseruserMode:ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:rMode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:ModuserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuserMode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserMode:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerMode:erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserMode:seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:eruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:useruserMode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruserususerMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luserModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuserMode::erMuserMode:oduseuseruserMode:Mode:rModuserMode:e:e =useruserMode:Mode: useuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::FususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::ususerMode:erModuseruserMode:Mode:e:ususerMode:erModuseruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:useruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::userModuseruserMode:Mode:e:userModuseruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserMode:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruserModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuserMode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserMode:rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserMode::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:userModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserMode:de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 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useruuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserMode:seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserMode:e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:euserMode:ruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:useruserMode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserModuserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userMode:rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luseuserMode:rModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:Mode:ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususerMode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuserMode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuserMode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMode:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuserMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouserMode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModeuserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:euseuserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMode:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]ususerMode:euserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeususerMode:erMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:ModuserMode:e:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseuserMode:ruuserMode:serMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:userMode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:ModeuseruserMode:Mode:::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMouserMode:deuseuserMode:ruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuuserMode:seruususerModeuserMode::erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:userMode:de:useruserMode:ModeuseuserMode:rMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuseruserMode:Mode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseuserMode:ruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserModuserMode:e:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:MouserMode:de:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:userMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserModeuserMode::Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouseruserMode:Mode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::puserMode:ruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:useuserMode:rModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuserususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMode:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruserModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruserMode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:usususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserMode::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuserMode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerMode:erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuserMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserMode:Mode:e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuuseruserMode:Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rModuserMode:e:de:e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.useruseruserMode:Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userModeuserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:ode:erModeuserMode::uuserMode:seuserMode:rMouserususerMode:erModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:userMode:ruserMode:Mode:Mode:useruuserMode:serMode:Mode:userMode:uususerMode:erMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MususerMode:erMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuuserMode:serMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserModeuserMode::edFouserModeuuserMode:serMode:userMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:ususerMode:euserMode:ruuserMode:serMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMususerMode:erMode:ode:MouserMode:de:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:euseruserMuseuserMode:rModuserMode:e:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruuserMode:seususeruserMode:Mode:eruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erususerMode:euseruserMode:Mode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMouserMode:de:de:e:e:e:uuuserMode:serMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:userMode:erMode:MouserMuserMode:ode:de:uuserususerMode:erMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruseuserMode:rMode:Mode::rt->userMouserMode:duserMode:userMode:e:forceuseuserMode:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:ususerMode:erMode:MuserMode:ode:useuserMode:userModeuserMode::rMouserMode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruuserMode:serMode:ModuserMode:e:userMode:de:userMuseruserModuserMode:euserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModususerMode:euserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMuserMode:ode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduseruserMode:Mode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuseuserMode:rMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserModuserMode:e::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useususerMode:erMode:rModuserMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuseuserMode:rMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMode:rMouserMode:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouseruserMode:Mode:deuserMuseuserMode:rMode:ode::uuserMouserModuserMode:e:de:suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: rt-useruserMode:MouseuseuserModuserMode:e:rMode:rMode:serMuserMode:oduseruserModuserMode:e:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMode:uuserMode:serMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:ode:userMode:0userMode:useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserModeuserMode::rMode:e:useruserMode:userModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouserModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:Mode:seruserMode:Mode:useuserMode:ruseruuseruseruseruserMode:ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuserMode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuserMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:useruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserModuserMode:e:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserMode::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserMode:seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModeuserMode::e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:euserMode:ruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:useruserMode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruseruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserMode::rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luseuserMode:rModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruserMode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userModuserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruserMode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuserMode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:ususerMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deuserMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserMode:Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserMode:_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruserMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 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useruuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserMode:seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:e:*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserMode:ususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModeuserMode::e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:euserMode:ruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:useruserMode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserMode::rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luseuserMode:rModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMode:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=userMode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:userMode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,rt-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModeuseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserMode:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuserMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModuserMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]ususerMode:euserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeususerMode:erMouserMode:de::serModeuseruseruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:ModuserMode:e:ModuserMode:e:userMode:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseuserMode:ruuserMode:seuserMode:rMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:useruserMode:Mode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:ModeuseruserMode:Mode:::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMouserMode:deuseuserMode:ruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuuserMode:seruususerModeuserMode::erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:userMode:de:useruserMode:ModeuseuserMode:rMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuseruserMode:Mode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseuserMode:ruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserModuserMode:e:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:MouserMode:de:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:userMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserModeuserMode::Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouseruserMode:Mode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::puserMode:ruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:useuserMode:rModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuserususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMode:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserMode::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruserMode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuserMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMode:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuserMode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerMode:erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::erMode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserMode:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuserMode:serMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserMode:ModeuserMode::e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuuseruserMode:Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erususerMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rModuserMode:e:deuserMode::e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.useruseruserMode:Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userModeuserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:ode:erModeuserMode::uuserMode:seuserMode:rMouserususerMode:erModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:userMode:ruserMode:Mode:Mode:useruuserMode:serMode:Mode:userMode:uususerMode:erMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MususerMode:erMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuuserMode:serMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[useruserModususerMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: rt->duserMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserModeuserMode::edFouserModeuuserMode:serMode:userMode::rususeuserMode:rModuserMode:e:userMode:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:ususerMode:euserMode:ruuserMode:suserMode:erMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMususerMode:erMode:ode:MouserMode:de:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:euseruserMuseuserMode:rModuserMode:e:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruuserMode:seususeruserMode:Mode:eruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erususerMode:euseruserMode:Mode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMouserMode:de:de:e:e:e:uuuserMode:serMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:userMode:erMode:MouserMuserMode:ode:de:uuserususerMode:erMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruseuserMode:rMode:Mode::rt->userMouserMode:duserMode:userMode:e:forceuseuserMode:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:ususerMode:erMode:MuserMode:ode:useuserMode:userModeuserMode::rMouserMode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruuserMode:serMode:ModuserMode:e:userMode:de:userMuseruserModuserMode:euserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModususerMode:euserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:rMuserMode:ode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduseruserMode:Mode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:Mode:useuseuserMode:rMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserModuserMode:e::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useusuuserMode:serMode:erMode:rModuserMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuseuserMode:rMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMouserMode:de:rMouserMode:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouseruserMode:Mode:deuserMuseuserMode:rMode:ode::uuserMouserModuserMode:e:de:suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: rt-useruserMode:MouseuseuserModuserMode:e:rMode:rMode:serMuserMode:oduseruserModuserMode:e:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMode:uuserMode:serMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:ode:userMode:0userMode:useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserModeuserMode::rMode:e:useruserMode:userModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:userMode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserMode:ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuserMode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuseuserMode:rMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:uuserMode:seruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserModuserMode:e:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserMode::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserMode:seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruserMode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserMode:ususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModeuserMode::e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:euserMode:ruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:useruserMode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userMode:erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMode:userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseuserMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserMode::rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luseuserMode:rModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuserMode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususerMode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuserMode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuserMode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuserMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruserMode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuserMuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:erMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:userMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duserMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 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useruuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserMode:seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MouserMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserMode:ususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModeuserMode::e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:euserMode:ruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:useruserMode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeuserMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMode:userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuserMode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserMode::rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luseuserMode:rModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserMode:e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruserMode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuserMode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMode:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:Mode:e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserMode::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuserMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::userModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:e::>juserMode:gouserMode:userMode:al[4]ususerMode:euserMouseuseruserMode:Mode:rMode:duseruserMode:useuserMode:rMode:Mode:userMode:userModeuuserModeususerMode:erMouserMode:de::serModeuseruseuserMode:ruserMode:Mode:MuserMode:ode:::euserMode::ruserMode:useruserMode:ModuserMode:e:ModuserMode:e:userMouserMode:de:,ruserMode:t->userModuseruserMode:Mode:useruserModuserMode:e:Mode:e:x_duseuserMode:ruuserMode:seuserMode:rMode:Mode:userMode:euserModuserMuserMususerMode:eruseruserMode:Mode:Mode:ode:ode:e:ususerMode:useruserMode:Mode:erModeuuserMode:serModuserMode:userMode:e::userModeuserMode::usususerModeuseruserMode:ModeuseruserMode:Mode:::erMode:erMuserMode:odeuserModuserMode:userMode:euserMouuserMode:serMode:de::userMode::userMouserMode:deuseuserMode:ruseruserMode:Mode:Mode::usususeususerMode:erMode:rMouseuserMode:rMode:de:erMode:erMuuserMode:seruususerModeuserMode::erMode:serMuserModuseruserMode:Mode:e:ode:Mode:odeuserMode::userMouserMode:userMode:de:useruserMode:ModeuseuserMode:rMode::ususerMode:euuserMode:serMouseuseruserMode:Mode:rMode:duuseruserMode:Mode:serMouserMode:duserMode:e:uuserMode:serModeuserMode::e:ruserModeuserModuserMode:e::MuserModuseuserMode:ruserMode:Mode:e:ode:userMode:userMuserMouserMode:deuserMode::oduserMode:euserMode::useuserMuserModuserMode:e:uuserMode:serMode:ode:useruserMode:Mode:rMuuserMuserMode:ode:serMode:odususeuserMode:ruserMode:MouserMode:de:eruserMode:ModeususerMode:erModuserMode:e::euseuuseruseruserMode:Mode:Mode:seuserMode:ruserMode:userMode:MouserMode:de:rMode::uuserModeuserMode::userMode:serMode:userModeuserMode::ususerMode:uuseruserModeuserMode::Mode:serMode:erMouuserMode:serModuserMode:e:de:useruseuserMode:rMode:MuuserMode:seruserMode:MouseruserMode:Mode:de:userModuseruserMode:Mode:e:odeuserMode::useruseruserMode:ModuserModuserMode:e:userMode:e::puserMode:ruuserMuserModuserMode:e:ode:serMuserMode:useruserMode:Mode:ode:intuserMode:er_org.userMode:cpp:useuserMode:rModuseuserMode:ruseruserMode:MouserMode:de:Mode:e:	userMousususerModuseruserMode:Mode:e:erMode:erModeuserususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruserMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruserMode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:de:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuserMode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerMode:erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuseruserMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->userMode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuserMode:serMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserMode:ModeuserMode::e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuuseruserMode:Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeuserMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rMode:oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuserMode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rModuserMode:e:deuserMode::e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.useruseruserMode:Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userModeuserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:ode:erModeuserMode::uuserMode:seuserMode:rMouserususerMode:erModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:userMode:ruserMode:Mode:Mode:useruuserMode:serMode:Mode:userMode:uususerMode:erMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MususerMode:erMouserModeuserMode::de:useuserMode:rMode:ode:	rt->duserMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuuserMode:serMode::Mode:uuserMode:serModuserModuserModeuserMode::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[ususerMode:eruserModususerMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: 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rt->fuserususerMuserMuserMode:ode:ode:erModeuserModuserMode:e::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useusuuserMode:serMode:erMode:rModuserMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuseuserMode:rMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMouserMode:de:rMouserMode:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouseruserMode:Mode:deuserMuseuserMode:rMode:ode::uuserMouserModuserMode:e:de:suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: rt-useruserMode:MouseuseuserModuserMode:e:rMode:rMode:serMuserMode:oduseruserModuserMode:e:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMode:uuserMode:serMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:ode:userMode:0userMode:useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserModeuserMode::rMode:e:useruserMode:userModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duserMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[1userMuserMode:ode:], rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rMode:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:Mode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserMode:ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuserMode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMouseruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMuserMode:ode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuseuserMode:rMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:uuserMode:seruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserModuserMode:e:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserMode::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserMode:seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.userMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserMode:ususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModeuserMode::e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:euserMode:ruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:useruserMode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuseuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMode:userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserMode::rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luseuserMode:rModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuserMode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rMode:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouserMode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuserMode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:Mode:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModuserMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususerMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuserMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuserMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 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ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserMode:ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:userMode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuserMode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMuserMode:ode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuseuserMode:rMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:uuserMode:seruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserModuserMode:e:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserMode::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserMode:seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:suserMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userMode:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserMode:ususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModeuserMode::e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:euserMode:ruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:useruserMode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerMode:erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususeruserMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMode:userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:serModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserMode::rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luseuserMode:rModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	userModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:useruseruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:userMode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruserMode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:ususerMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMode:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuserMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userMode:useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMode:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:Mode:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3ususerMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruserMode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::odeususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuserMode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerMode:erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuserMode:serMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserMode:ModeuserMode::e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuuseruserMode:Mode:serMouserMode:de:::], 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rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserMode::rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luseuserMode:rModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuserMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruserMode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:userMode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duseruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruserMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, 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=userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouserMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModeuuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMode:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuserMode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruserMode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:euserModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuserMode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerModeuserMode::erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuserMode:serMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserMode:ModeuserMode::e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuuseruserMode:Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususerMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuserMode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rModuserMode:e:deuserMode::e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.useruseruserMode:Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userModeuserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:ode:erModeuserMode::uuserMode:seuserMode:rMouserususerMode:erModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:userMode:ruserMode:Mode:Mode:useruuserMode:serModuserMode:e:Mode:userMode:uususerMode:erMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MususerMode:erMouserModeuserMode::de:useuseuserMode:rMode:rMode:ode:	rt->duserMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuuserMode:serMode::Mode:uuserMode:serModuuserMode:serModuserModeuserMode::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[ususerMode:eruserModususerMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: rt->dususerMode:erMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserModeuserMode::edFouserModeuuserMode:serMode:userMode::rususeuserMode:rModuserMode:e:userMode:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:ususerMode:euserMode:ruuserMode:suserMode:erMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMususerMode:erMode:ode:MouserMode:de:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:euseruserMuseuserMode:rModuserMode:e:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruuserMode:seususeruserMode:Mode:eruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erususerMode:euseruserMode:Mode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMouserMode:de:de:e:e:e:uuuserMode:serMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:userModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:userMode:erMode:MouserMuserMode:ode:de:uuserususerMode:erMode:ModeuserMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruseuserMode:rMode:Mode::rt->userMouserMode:duserMode:userMode:e:forceuseuserModuserMode:e:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:ususerMode:erMode:MuserMode:ode:useuserMode:userModeuserMode::rMouseruserMode:Mode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruuserMode:serMode:ModuserMode:e:userMode:de:userMuseruserModuserModeuserMode::euserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModususerMode:euserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:ruserMode:MuserMode:ode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduseruserMode:Mode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:MuserMode:ode:useuseuserMode:rMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserModuserMode:e::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useusuuserMode:serMode:erMode:rModuserMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuseuserMode:rMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMouserMode:de:rMouserMode:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouseruserMode:Mode:deuserMuseuserMode:rMode:ode::uuserMouserModuserMode:e:de:suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: rt-useruserMode:MouseuseuserModuserMode:e:rMode:rMode:serMuserMode:oduseruserModuserMode:e:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMode:uuserMode:serMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:ode:userMode:0userMode:useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserModeuserMode::rMode:e:useruserMode:userModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duuserMode:serMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[userMode:1userMuserMode:ode:], rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:Mode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserMode:ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuserMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:useruserMode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruserMode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMuserMode:ode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuseuserMode:rMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:uuserMode:seruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserModuserMode:e:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserMode::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserMode:seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserMode:ususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModeuserMode::e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:euserMode:ruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:useruserMode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:userMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMode:userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMode:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserMode::rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luseuserMode:rModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruserMode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuserMode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuserMode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouseruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:serModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMode:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userMode:userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserMode:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserMode:userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserMode:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuserMode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruserMode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rMode:userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuserMode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMode:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMuserMode:ouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerModeuserMode::erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuserMode:serMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserMode:ModeuserMode::e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuuseruserMode:Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuserMuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuserMode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rModuserMode:e:deuserMode::e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.useruseruserMode:Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userModeuserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::ode:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:ode:erModeuserMode::uuserMode:seuserMode:rMouseruuserMode:suserMode:erModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:userMode:ruserMode:Mode:Mode:useruuserMode:serModuserMode:e:Mode:userMode:uususerMode:erMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MususerMode:erMouserModeuserMode::de:useuseuserMode:rMode:rMode:ode:	rt->duserMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuuserMode:serMode::Mode:uuserMode:serModuuserMode:serModuserModeuserMode::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[ususerMode:eruserModususerMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: 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rt->fuserususerMuserMuserMode:ode:ode:erModeuserModuserMode:e::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useusuuserMode:serMode:erMode:rModuserMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuseuserMode:rMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMouserMode:de:rMouserMode:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouseruserMode:Mode:deuserMuseuserMode:rMode:ode::uuserMouserModuserMode:e:de:suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: rt-useruserMode:MouseuseuserModuserMode:e:rMode:rMode:serMuserMode:oduseruserModuserMode:e:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMode:uuserMode:serMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:ode:userMode:0userMode:useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserModeuserMode::rMode:e:useruserMode:userModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMuserMode:ode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duuserMode:serMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[userMode:1userMuserMode:ode:], rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:Mode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserMode:ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuserMode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:useruserMode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruserMode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:userMode:de: 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5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserMode::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserMode:seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 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57.ususerMode:erMode:useruserMode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMode:userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserMode::rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luseuserMode:rModuserMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMode:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuserMode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuserMode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:ModuserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususeruseuseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserMode:suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserMode:ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModeuserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuserMode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuserMode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruserMode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeuserModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerMode:erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuserMode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMode:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMouserMode:de:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMuserMode:ouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerModeuserMode::erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuserMode:serMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserMode:ModeuserMode::e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuuseruserMode:Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuserMode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rModuserMode:e:deuserMode::e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.useruseruserMode:Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userModeuserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserModususerMode:erMode:userMuserMode:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuserMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMode:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::oduserMode:e:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:ode:erModeuserMode::uuserMode:seuserMode:rMouseruuserMode:suserMode:erModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:userMode:ruserMode:Mode:Mode:useruuserMode:serModuserMode:e:Mode:userMode:uususerMode:erMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MususerMode:erMouserModeuserMode::de:useuseuserMode:rMode:rMode:ode:	rt->duserMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuuserMode:serMode::Mode:uuserMode:serModuuserMode:serModuserModeuserMode::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[ususerMode:eruserModususerMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: rt->dususerMode:erMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserModeuserMode::edFouserModeuuserMode:serMode:userMode::rususeuserMode:rModuserMode:e:userMode:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:ususerMode:euserMode:ruuserMode:suserMode:erMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMususerMode:erMode:ode:MouserMode:de:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:euseruserMuseuserMode:rModuserMode:e:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMode:userMode:oruuserMode:seususeruserMode:Mode:eruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:erMode:deuserModuserMode:e::ususerMode:erususerMode:euseruserMode:Mode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerMode:erMode:ModeuserMode::duserModuserModuserMouserMouserMode:de:de:e:e:e:uuuserMode:serMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:ususerMode:erModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:userMode:erMode:MouserMuserMode:ode:de:uuserususerMode:erMode:ModeuserMode:uuserMode:serMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruseuserMode:rMode:Mode::rt->userMouserMode:duserMode:userMode:e:forceuseuserModuserMode:e:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:ususerMode:erMode:MuserMode:ode:useuserMode:userModeuserMode::rMouseruserMode:Mode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruuserMode:serMode:ModuserMode:e:userMode:de:userMuseruserModuserModeuserMode::euserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModususerMode:euserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:ruserMode:MuserMode:ode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduseruserMode:Mode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:MuserMode:ode:useuseuserMode:rMode:rMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserModuserMode:e::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useusuuserMode:serMode:erMode:rModuserMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuseuserMode:rMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMouserMode:de:rMouserMode:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouseruserMode:Mode:deuserMuseuserMode:rMode:ode::uuserMouserModuserMode:e:de:suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: rt-useruserMode:MouseuseuserModuserMode:e:rMode:rMode:serMuserMode:oduseruserModuserMode:e:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMode:uuserMode:serMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:ode:userMode:0userMode:useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserModuserMode:euserMode::rMode:e:useruserMode:userModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMuserMode:ode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duuserMode:serMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[userMode:1userMuserMode:ode:], rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:Mode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserMode:ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0userModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMuserMode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuserMode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:useruserMode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruserMode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMuserMode:ode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuseuserMode:rMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:uuserMode:seruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserModuserMode:e:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuserMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserMode::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserMode:ususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModeuserMode::e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:euserMode:ruseruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMode:userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserMode::rt->fusuuseruserMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luseuserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::Mode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruserMode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duserMode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuserMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuserMode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s 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=userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:ode:6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s 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(tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserMode:euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::e:euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerMode:erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuserMode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuserMode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 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rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuserMode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], 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rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:eruserMode:Mode:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuserMode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rModuserMode:e:deuserMode::e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.useruseruserMode:Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userModeuserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: 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rt-useruserMode:MouseuseuserModuserMode:e:rMode:rMode:serMuserMode:oduseruserModuserMode:e:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMode:uuserMode:serMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:userMode:ode:userMode:0userMode:useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserModuserMode:euserMode::rMode:e:useruserMode:userModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMuserMode:ode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duuserMode:serMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[userMode:1userMuserMode:ode:], 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userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserMode:ususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModeuserMode::e:eruserMouserMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMode:userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seuserMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:e:useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMode:erMode:erMode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserModeuserMode::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserMode::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luseuserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseuseuseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuserMode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuserMode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMode:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuserMode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserMode:me userMode:iuserModeuserMode::userMode:s usuuserModeuserMode::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:ode:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserMode:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMode:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuserMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:userModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:erModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuserMode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuserMode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuserMode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuserMode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruserMode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuserMode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]userModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMouserMode:de:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMuserMode:ouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerModeuserMode::erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuserMode:serMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserMode:ModeuserMode::e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuuseruserMode:Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMode:euuserMode:serMode:rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:userMode:eruserMode:Mode:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuserMode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rModuserMode:e:deuserMode::e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.useruseruserMode:Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userModeuserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: 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rt->F[2useuserMuserMode:uuserMode:sususerModuserMouserMode:de:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::oduserMode:e:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:ode:erModeuserMode::uuserMode:seuserMode:rMouseruuserMode:suserMode:erModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:userMode:ruserMode:Mode:Mode:useruuserMode:serModuserMode:e:Mode:userMode:uususerMode:erMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MususerMode:erMouserModeuserMode::de:useuseuserMode:rMode:rMode:ode:	rt->duserMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuuserMode:serMode::Mode:uuserMode:serModuuserMode:serModuserModeuserMode::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[ususerMode:eruserModususerMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: 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rt-useruserMode:MouseuseuserModuserMode:e:rMode:rMode:serMuserMode:oduseruserModuserMode:e:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMuserMode:ode:uuserMode:serMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:userMode:ode:userMode:0userMode:useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserModuserMode:euserMode::rMode:e:useruserMode:userModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMuserMode:ode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duuserMode:serMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[userMode:1userMuserMode:ode:], rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:Mode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserMode:ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuserMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0useruserMode:ModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[userMode:userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMuserMode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuserMode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:useruserMode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruserMode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMuserMode:ode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuseuserMode:rMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuserMode::Mode:userMode:erMouserMode:de:de:uuserMode:seruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuserMode:->q_useruserMode:MouserMode:de:desuseruserModuserMode:e:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserMode::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserMode:ususerModeuserMode::erususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModeuserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: 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userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, 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userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, 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rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::Mode:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuserMode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:userMode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserMode:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
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rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuserMode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, 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userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s 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rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruserMode:ModeuserMode:: 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rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruseuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserMode:ode:euuserMode:serMode:rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:userMode:eruserMode:Mode:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuserMode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rModuserMode:e:deuserMode::e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.useruseruserMode:Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userModeuserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:Mode:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserMuserMode:odususerMode:erMode:userMuserMode:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuuserMode:serMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: 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rt-useruserMode:MouseuseuserModuserMode:e:rMode:rMode:serMuserMode:oduseruserModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMuserMode:ode:uuserMode:serMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:userMode:ode:userMode:0userMode:useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserModuserMode:euserMode::rMode:e:useruserMode:userModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMuserMode:ode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duuserMode:serMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[userMode:1userMuserMode:ode:], 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useruuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duserModuserModeuserMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserMode:ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModeuserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMode:userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMode:erMode:userMuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserMode::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luseuserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruserModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruserMode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruserMode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuserususerMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruserMode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMode:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuserModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserMode:suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: useruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuserMode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruserMode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuserMode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuserMode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuserMode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuserMode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModuserMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuserMode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMouserMode:de:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMuserMode:ouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerModeuserMode::erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuserMode:serMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserMode:ModeuserMode::e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:odeuserModeuuseruserMode:Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMode:userMouuserMode:seruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:erMouseruserMode:Mode:de:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserMode:ode:euuserMode:serMode:rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:userMode:eruserMode:Mode:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuserMode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rModuserMode:e:deuserMode::e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.useruseruserMode:Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuserModeuserModeuserMode:::userModeuserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserMuserMode:odususerMode:erMode:userMuserMode:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuuserMode:serMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: 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rt-useruserMode:MouseuseuserModuserMode:e:rMode:rMode:serMuserMode:oduseruserModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMuserMode:ode:uuserMode:serMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:userMode:ode:userMode:0userMode:useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserModuserMode:euserMode::rMode:e:useruserMode:userModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMuserMode:ode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duuserMode:serMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[userMode:1userMuserMode:ode:], rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:Mode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserModeuserMode::ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuuserMode:serMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0useruserMode:ModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[userMode:userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMuserMode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuserMode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:useruserMode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruserMode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMuserMode:ode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerMode:erMouserMode:de:ode:useruseuseuserMode:rMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuserMode:seruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruserModuserMode:e:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserMode::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruserMode:Mode:rMode::pp:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duserModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserMode:ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModeuserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuserMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMode:userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		rt->tau_deuuserMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMode:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserMode::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luseuserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:Mode:e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouserMode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuserMode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserMode:rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouserMode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuserMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuserMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuserMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouserModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 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ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruserMode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuserMode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuserMode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuserMode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuserMode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ode:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuserMode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], 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userModeususerMode:erMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuserMode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rModuserMode:e:deuserMode::e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouseruserMode:Mode:rg.useruseruserMode:Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::userModeuserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: 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rt-useruserMode:MouseuseuserModuserMode:e:rMode:rMode:serMuserMode:oduseruserModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMuserMode:ode:uuserMode:serMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:userMode:ode:userMode:0userMode:useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserModuserMode:euserMode::rMode:e:useruserMode:userModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMuserMode:ode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duuserMode:serMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[userMode:1userMuserMode:ode:], rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuserMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:Mode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruserMode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:userMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserModeuserMode::ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuuserMode:serMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0useruserMode:ModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[userMode:userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMuserMode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuserMode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:useruserMode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruserMode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],userMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserMode:e:userModusuuseruserMuserMode:ode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuserMode:seruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruserModuserMode:e:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserMode::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MuserMususeruserMouserMode:de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruserMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duserModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserMode:ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModeuserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserMode:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMode:userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:userMode:euserMode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMode:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserMode::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luseuserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserModuseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuserMode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususerMode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->userMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruserMode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me userMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerMode:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::op couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuserMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:useruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:userMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususerMode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuserMode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruserMode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuserMode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuserMode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuserMode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuserMode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMode:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ouserMode:de:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuserMode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMuserMode:ouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], 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rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:userMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:userMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMode:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserMode::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luseuserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
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userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] 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tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::suserMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruserMode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuserMode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:			userMode:rususerMode:erModuserMode:e:t->useuserMode:rMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
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rt-userMode:userModeuseuserMode:rMuserMode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, 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=userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserMode:duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuserMuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuserMode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MouserMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMode:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMode:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMouserMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuserMode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:userMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususerMode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuserMode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruserMode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuserMode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuserMode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuserMode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuserMode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserMode:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMouserMode:de:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ouserMode:de:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeuserMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMuserMode:ouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMouserMode:de:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMuserMode:ouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerModeuserMode::erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuserMode:serMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserMode:ModeuserMode::e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:oduserMode:euserModeuuseruserMode:Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:de:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserMode:ode:euuserMode:serMode:rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:userMode:eruserMode:Mode:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuserMode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userMode:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserMode:Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::userModeuserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserMuserMode:odususerMode:erMode:userMuserMode:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuuserMode:serMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMouserMode:de:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::oduserMode:e:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:ode:erModeuserMode::uuserMode:seuserMode:rMouseruuserMode:suserMode:erModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:userMode:ruserMode:Mode:Mode:useruuserMode:serModuserMode:e:Mode:userMode:uususerMode:erMode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MususerMode:erMouserModeuserMode::de:useuseuserMode:rMode:rMode:ode:	rt->duserMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuuserMode:serMode::Mode:uuserMode:serModuuserMode:serModuserModeuserMode::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[ususerMode:eruserModususerMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: rt->dususerMode:erMuseruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserModeuserMode::edFouserModeuuserMode:serMode:userMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:ususerMode:euserMode:ruuserMuserMode:ode:suserMode:erMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMususerModeuserMode::erMode:ode:MouserMode:de:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:eususerMode:eruserMuseuserMode:rModuserMode:e:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMouserMode:de:userMode:oruuserMode:seususeruserMode:Mode:eruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:eruserMode:Mode:deuserModuserMode:e::ususerMode:erususerMode:euseruserMode:Mode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerModuserMode:e:erMode:ModeuserMode::duserModuserModuserMouserMouserMode:de:de:e:e:e:uuuserMode:serMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:ususerMode:erModeuserMode:userMode:::usuuserMode:suserMode:erMode:erususerMode:userMode:erMode:MouserMuserMode:ode:de:uuserususerMode:erMode:ModeuserMode:uuserMode:serMode::seuuserMode:serMuserMode:odeuserMode::rModuserMode:euseruseuserMode:rMode:Mode::rt->userMouserMode:duserMode:userMode:e:forceuseuserModuserMode:e:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserModeuserMode::ode:ususerMode:erMode:MuserMode:ode:useuserMode:userModeuserMode::rMouseruserMode:Mode:de:userMode:userMode:userMususerMode:userMode:erMode:ode:uuserMode:seruserMouseruuserMode:serMode:ModuserMode:e:userMode:de:userMuseruserModuserModeuserMode::euserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode::ode:userMouserMode:de:ModususerMode:euserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:ruserMode:MuserMode:ode:userMode:seruseuserMode:rMode:				userMode:rt-userMouserMuserMode:oduseruserMode:Mode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:MuserMode:ode:useuseuserMode:rMode:rMode:userMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserModuserMode:e::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useusuuserMode:serMode:erMode:rModuseuserMode:rMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuseuserMode:rMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMouserMode:de:rMouserModuserMode:e:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouseruserMode:Mode:deuserMuseuserMode:rMode:ode::uuserMouserModuserMode:e:deuserMode::suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: rt-useruserMode:MouseuseuserModuserMode:e:rMode:rMode:serMuserMode:oduseruserModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMuserMode:ode:uuserMode:serMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:userMode:ode:userMode:0userMode:useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userMode:userususeruserMode:Mode:serMuserMode:oduseuserModuserMode:euserMode::rMode:e:useruserMode:userModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euserModuserMode:e::uuserMode:seruserModeususerMode:erMuserMode:ode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuserMode:e:userMuserMode:ode::duseuserMouserMode:duuserMode:serMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuserMode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[userMode:1userMuserMode:ode:], rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserMode:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserMode::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuseuserMode:rMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:Mode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruseruserMode:Mode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:userMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserModeuserMode::ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuuserMode:serMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0useruserMode:ModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[userMode:userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMuserMode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuserMode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:useruserMode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruserMode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuserMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],uuserMode:serMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuserMode:seruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruserModuserMode:e:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserMode::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuseruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MuserMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruserMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duserModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserMode:ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModeuserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:de:de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMode:userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:userMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMode:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserMode::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luseuserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuserModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuserMode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:userMode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:e:e:useruseuseruserMode:Mode:rMode:Mode:.cpp:	userMode:		userMode:rususerMode:erModuserMode:e:t->useuserMode:rMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruserMode:MuserMode: rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:useuserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// 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userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s 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57usuuserMode:serMode:erModeuserModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::ModeuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususerMode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuserMode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:userMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususerMode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuserMode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruserMode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuserMode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuserMode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuserMode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 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userModeususerMode:erMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuserMode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserMode:Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::userModeuserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: 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userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MuserMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruserMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duserModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserMode:ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModeuserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userModuserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMode:userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModeuserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:userMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMode:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserMode::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luseuserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:Mode::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuserMode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euserMode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMouserMode:de:ruserMode:MuserMode:oduserMode:euserMode::e:useruseuseruserMode:Mode:rMode:Mode:.cpp:	userMode:		userMode:rususerMode:erModuserMode:e:t->useuserMode:rMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususerMode:erModeuserModeuserMode:::euseruserMode:Mode:ruseruserMode:Mode:MuserMode: rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserMode:ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususerMode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userMode:userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuserMode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModeuserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserMode:userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouserMode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserMode:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2],uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususerMode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuserMode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:userMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususerMode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuserMode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruserMode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuserMode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuserMode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuserMode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuserMode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserMode:Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMuserMode:ode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserModuserMode:e:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMouserMode:de:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ouserMode:de:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMuserMode:ouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMouserMode:de:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMuserMode:ouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerModeuserMode::erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserModeususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserMode:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oaluuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuseruserMode:Mode:serMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserModeuserMode::ModeuserMode::e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:oduserMode:euserModeuuseruserMode:Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:de:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserMode:ode:euuserMode:serMode:rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:userMode:eruserMode:Mode:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMode:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserMode:Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::userModeuserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: 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rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserModuserMode:e:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserModuserMode:e::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuseuserMode:rMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:Mode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruseruserMode:Mode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:userMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserModeuserMode::ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuuserMode:serMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0useruserMode:ModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[userMode:userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMuserMode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuserMode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:useruserMode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruseruserMode:Mode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuseuserMode:rMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],uuserMode:serMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuserMode:seruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruserModuserMode:e:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserMode::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MuserMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruserMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duserModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserMode:ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModeuserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMode:userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuserMode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:userMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMode:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserMode::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:luseuserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModeuseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruserMode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuserMode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserMode:::e::Mode::ususerMode:erModuseuseuserMode:rMuserMode:ouserMode:de:ruserMode:MuserMode:oduserMode:euserMode::e:useruseuseruserMode:Mode:rMode:Mode:.cpp:	userMode:		userMode:rususerMode:erModuserMode:e:t->useuserMode:rMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuserMode:::serMode:erMouserMode:deuserMode::xit !=usususeruserMode:Mode:erModeuserModeuserMode:::euseruserMode:Mode:ruseruserMode:Mode:MuserMode: rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:Mode:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususerMode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0ususususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuserMode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserMode:ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserMode::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserModeuserMode::userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouserMode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 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5userMode:7.3uuserMode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserModeuserMode::Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMuserMode:ode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserModuserMode:e:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMouserMode:de:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ouserMode:de:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], 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rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:de:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserMode:ode:euuserMode:serMode:rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:userMode:eruserMode:Mode:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserMode:userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:e:userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMouserMode:de:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserMode:Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::userModeuserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: 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rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserModuserMode:e:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserModuserMode:e::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuseuserMode:rMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:Mode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruseruserMode:Mode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:userMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserModeuserMode::ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuuserMode:serMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0useruserMode:ModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[userMode:userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMuserMode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuserMode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:useruseruserMode:Mode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruseruserMode:Mode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuseuserMode:rMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],uuserMode:serMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuserMode:seruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruserModuserMode:e:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserMode::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:userMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MuserMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruserMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duserModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserMode:ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModeuserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.ususerMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMode:userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:userMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMode:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserMode::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuserMode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruserMode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuserMode:serModususerMode:erModeuserModeuserModeuserMode::::e::Mode::ususerMode:erModuseuseuserMode:rMuserMode:ouserMode:de:ruserMode:MuserMode:oduserMode:euserMode::e:useruseuseruserMode:Mode:rMode:Mode:.cpp:	userMode:		userMode:rususerMode:erModuserMode:e:t->useuserMode:rMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:userMode:(1) && (rt->ususerMode:erEusuuserModeuserModeuseruserMode:Mode:::serMode:erMouserMode:deuserMode::xit !=usususeruserMode:Mode:erModeuserModeuserMode:::euseruserMode:Mode:ruseruserMode:Mode:MuserMode: rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruserMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususerMode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuserMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuserMode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:erMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:userMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserModeuserMode:::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserModeuserMode::userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouserMode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususerMode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuserMode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:userMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususerMode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuserMode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruserMode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuserMode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuserMode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuserMode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuserMode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rModuserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserModeuserMode::Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMuserMode:ode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserModuserMode:e:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMouserMode:de:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ouserMode:de:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuserMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMuserMode:ouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], 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userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserMode:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], 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userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:Mode:MouserMode:duserMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouserMode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuserMode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:de:userModeuseuserMode:ruseruserMode:ModeuuseuserMode:rMode:serModususerMode:erModeuserModeuserModeuserMode::::e::Mode::ususerMode:erModuseuseuserMode:rMuserMode:ouserMode:de:ruserMode:MuserMode:oduserMode:euserMode::e:useruseuseruserMode:Mode:rMode:Mode:.cpp:	userMode:		userMode:rususerMode:erModuserMode:e:t->useuserMode:rMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususerMode:erMode:rMode::userMode:dususeruserModuserModeuserMode::e:Mode:erModeuserMode::e:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususerMode:erEusuuserModeuserModeuseruserMode:Mode:::serMode:erMouserMode:deuserMode::xit !=usususeruserMode:Mode:erModeuserModeuserMode:::euseruserMode:Mode:ruseruserMode:Mode:MuserMode: 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uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:userMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMode:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususerMode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouserMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puserMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuserMode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserModuserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:ususerMode:erMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserModeuserMode:::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserModeuserMode::userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouserMode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeuserModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususerMode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuserMode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:userMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususerMode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuserMode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruserMode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuserMode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuserMode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuserMode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuserMode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1userMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rMuserMode:oduserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserModeuserMode::Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMuserMode:ode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserModuserMode:e:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMouserMode:de:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ouserMode:de:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMode:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMuserMode:ouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMouserMode:de:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMuserMode:ouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerModeuserMode::erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserMouserMode:deususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserModuserMode:e:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oauserMode:luuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuseruserMode:Mode:serMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserModeuserMode::ModeuserMode::e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:oduserMode:euserModeuuseruserMode:Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:de:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserMode:ode:euuserMode:serMode:rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:userMode:eruserMode:Mode:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserMode:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserMode::userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMouserMode:de:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserMode:Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::userModeuserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserMuserMode:odususerMode:erMode:userMuserMode:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuuserMode:serMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMouserMode:de:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::oduserMode:e:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:ode:erModeuserMode::uuserMode:seuserMode:rMouseruuserMode:suserMode:erModeuserMode::Mode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:userMode:ruserMode:Mode:Mode:useruuserMode:serModuserMode:e:Mode:userMode:uususerMode:erMuserMode:ode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MususerMode:erMouserModeuserMode::de:useuseuserMode:rMode:rMode:ode:	rt->duserMode:userMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuuserMode:serMode::Mode:uuserMode:serModuuserMode:serModuserModeuserModeuserMode:::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[ususerMode:eruserModusususerMode:erMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: 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rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserModuserMode:e:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserModuserMode:e::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuseuserMode:rMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:Mode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruseruserMode:Mode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:userMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserModeuserMode::ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuuserMode:serMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0useruserMode:ModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[userMode:userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMuseruserMode:Mode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuseruserMode:Mode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:useruseruserMode:Mode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruseruserMode:Mode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuseuserMode:rMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],uuserMode:serMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuserMode:seruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruserModuserMode:e:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserMode::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MuserMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruserMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duserModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserMode:ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModeuserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMode:userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:userMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMode:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = 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=useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, 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0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruserMode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuserMode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeuserMode::seuseruserMode:Mode:rModeuseuserMode:userMode:de:userModeuseuserMode:ruseruserMode:ModeuuseuserMode:rMode:serModususerMode:erModeuserModeuserModeuserMode::::e::Mode::ususerMode:erModuseuseuserMode:rMuserMode:ouserMode:de:ruserMode:MuserMode:oduserMode:euserMode::e:useruseuseruserMode:Mode:rMode:Mode:.cpp:	userMode:		userMode:rususerMode:erModuserMode:e:t->useuserMode:rMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
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userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserMuserMode:oduserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:odususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseuserMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:userMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:ususerMode:erMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserModeuserMode:::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserModeuserMode::userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouserMode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juserMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususerMode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuserMode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:userMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususerMode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuserMode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruserMode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuserMode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuserMode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuserMode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuserMode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMouseruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMode:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rMuserMode:oduserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserModeuserMode::Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMuserMode:ode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserModuserMode:e:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMouserMode:de:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ouserMode:de:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:de:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserMode:suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMuserMode:ouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMouserMode:de:erMode:F[2]ususerMode:erMode:useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMuserMode:ouserMode:de::userMode:uuserMode:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerModeuserMode::erMode:eususerModeuserMode::erMode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:userMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserMouserMode:deususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserModuserMode:e:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oauserMode:luuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuseruserMode:Mode:serMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserModeuserMode::ModeuserMode::e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:oduserMode:euserModeuuseruserMode:Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:de:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserMode:ode:euuserMode:serMode:rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:userMode:eruserMode:Mode:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:userMode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususerMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserMode::userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMouserMode:de:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserMode:Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::userModeuserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserMuserMode:odususerMode:erMode:userMuserMode:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuuserMode:serMode::userMode:e:e:seuserMode:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMouserMode:de:e:erMode:eususerMode:erMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::oduserMode:e:userMouseuserMode:rMode:e:rMode:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:ode:erModeuserMode::uuserMode:seuserMode:rMouseruuserMode:suserMode:erModeuserMode::Mode:userMode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:userMode:ruserMode:Mode:Mode:useruuserMode:serModuserMode:e:Mode:userMode:uususerMode:erMuserMode:ode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MususerMode:erMouserModeuserMode::de:useuseuserMode:rMode:rMode:ode:	rt->duserMode:userMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuuserMode:serMode::Mode:uuserMode:serModuuserMode:serModuserModeuserModeuserMode:::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[ususerMode:eruserModusususerMode:erMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: rt->dususerMode:erMuuserMode:seruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserModeuserMode::edFouserModeuuserMode:serMode:userMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:ususerMode:euserMode:ruuserMuserMode:ode:suserMode:erMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMususerModeuserMode::erMode:ode:MouserMode:de:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:eususerMode:eruserMuseuserMode:rModuserMode:e:ode:Mode::ususerMode:erMode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMouserMode:de:userMode:oruuserMode:seususeruserMode:Mode:eruserMouseruseuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:eruserMode:Mode:deuserModuserMode:e::ususerMode:erususerMode:euseruserMode:Mode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerModuserMode:e:erMode:ModeuserMode::duserModuserModuserMouserMouserMode:de:de:e:e:e:uuuserMode:serMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:ususerMode:erModeuserMode:userMode:::usuuserMode:suserMode:erMode:eruuserMode:suserMode:userMode:erMode:MouserMuserMode:ode:de:uuserususerMode:erMode:ModeuserMode:uuserMode:serMode::seuuserMode:serMuserMode:odeuserMode::rModuserModuserMode:e:euseruseuserMode:rMode:Mode::rt->userMouserMode:duserMode:userMode:e:forceuseuserModuserMode:e:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserMuserMode:odeuserMode::ode:ususerMode:erMode:MuserMode:ode:useuserMode:userModeuserMode::rMouseruserMode:Mode:de:userMode:userMode:userMususerMode:userMode:erMode:userMode:ode:uuserMode:seruserMouseruuserMode:serMode:ModuserMode:e:userMode:de:userMuseruserModuserModeuserMode::euserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode:userMode::ode:userMouserMode:de:ModususerMode:euserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:ruserMode:MuserMode:ode:userMode:seruseuserMode:rMuserMode:ode:				userMode:rt-userMouserMuserMode:oduseruserMode:Mode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:MuserMode:ode:useuseuserMode:rMode:rMode:userMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserModuserMode:e::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useusuuserMode:serMode:erMode:rModuseuserMode:rMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuseuserMode:rMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMouserMode:de:rMouserModuserMode:e:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouseruserMode:Mode:deuserMuseuserMode:rMode:ode::uuserMouserModuserMode:e:deuserMode::suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: rt-useruserMode:MouseuseuserModuserMode:e:rMode:rMode:serMuserMode:oduseruserModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:userMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMuserMode:ode:uuserMode:serMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:Mode:",rt->userMode:x[userMode:userMuuserMode:serMode:userMode:ode:userMode:0userMode:useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userModeuserMode::userususeruserMode:Mode:serMuserMode:oduseuserModuserMode:euserMode::rMode:e:useruserMode:userModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euseruserMode:ModuserMode:e::uuserMode:seruserModeususerMode:erMuserMode:ode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuuserMode:serMode:e:userMuserMode:ode::duseuserMouserMode:duuserMode:serMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuseruserMode:Mode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[userMode:1userMuserMode:ode:], rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserModuserMode:e:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserModuserMode:e::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuseuserMode:rMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:Mode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruseruserMode:Mode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:userMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserModeuserMode::ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuuserMode:serMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0useruserMode:ModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[useruserMode:Mode:userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMuseruserMode:Mode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuseruserMode:Mode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:useruseruserMode:Mode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruseruserMode:Mode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuseuserMode:rMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],uuserMode:serMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMode:rMuseruserMode:Mode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuserMode:seruserMode:ModeuserMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruserModuserMode:e:Mode:[ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserModeuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MuserMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruserMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duserModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserMode:ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserMode:userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:userMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMode:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruserMode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuserMode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuserMode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModeuserMode::rususerMode:euserMode:ruuserModeususerMode:erMode::seuseruserMode:Mode:rModeuseuserMode:userMode:de:userModeuseuserMode:ruseruserMode:ModeuuseuserMode:rMode:serModususerMode:erModeuserModeuserModeuserMode::::e::Mode::ususerMode:erModuseuseuserMode:rMuserMode:ouserMode:de:ruserMode:MuserMode:oduserMode:euserMode::e:useruseuseruserMode:Mode:rMode:Mode:.cpp:	userMode:		userMode:rususerMode:erModuserMode:e:t->useuserMode:rMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuserMode::erMouseruserMuserMode:ouserMode:de:ModeuseususeruserMode:Mode:erMode:rMode::userMode:dususeruserModuserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususerMode:erEusuuserModeuserModeuseruserMode:Mode:::serMode:erMouserMode:deuserMode::xit !=usususeruserMode:Mode:erModeuserModeuserMode:::euseruserMode:Mode:ruseruserMode:Mode:MuserMode: rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMode:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususerMode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s 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=userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuserMode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuserMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMuserMode:ode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserMuserMode:oduserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, 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rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususerMode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuserMode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:userMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususerMode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuserMode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruserMode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuserMode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuserMode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuserMode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 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useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MuserMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruserMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duserModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:userMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuseruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuserMode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususerMode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserMode::rMuserModeususerMode:erMode::ode:useuserModuserMode:euserMode::rususerMode:euserMode:ruuserModeususerMode:erMode::seuseruserMode:Mode:rModeuseuserMode:userMode:de:userModeuseuserMode:ruseruserMode:ModeuuseuserMode:rMode:serModususerMode:erModeuserModeuserModeuserMode::::e::Mode::ususerMode:erModuseuseuserMode:rMuserMode:ouserMode:de:ruserMode:MuserMode:oduserMode:euserMode::e:useruseuseruserMode:Mode:rMode:Mode:.cpp:	userMode:		userMode:rususerMode:erModuserMode:e:t->useuserMode:rMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuserMode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususerMode:erMode::e:cpp:userMode:	rt-useuserModuserModeuserMode::e:rMouserModeuserMode::de:useuserModeuserModuserMode:e::rMode:ususeuserMode:rMode:eruserususerModeuseruserMode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseususeruserMode:Mode:erMode:rMode::userMode:dususeruserModuserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususerMode:erEusuuserModeuserModeuseruserMode:Mode:::serMode:erMouserMode:deuserMode::xit !=usususeruserMode:Mode:erModeuserModeuserMode:::euseruserMode:Mode:ruseruserMode:Mode:MuserMode: rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususerMode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::userMuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuserMode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:Mode:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuserMode:rMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMuserMode:ode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserMuserMode:oduserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMode:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:oduserMode:ususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseususerMode:erMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:userMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:ususerMode:erMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserModeuserMode:::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserModeuserMode::userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouserMode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uuserMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususerMode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuserMode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:userMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususerMode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuserMode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruserMode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuserMode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuserMode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuserMode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuserMode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuserMode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususerMode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rMuserMode:oduserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserModeuserMode::Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMuserMode:ode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserModuserMode:e:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMouserMode:de:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ouserMode:de:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMususerMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:duserMode:e:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserModeuserMode::suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], 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rt-userMouserMode:deuserMode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:userMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuserMode:ruserMode:Mode:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruserMode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuserMode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:userMode:::userMouserMode:de:useuserModeuserModeuserMode:::rMuserModeususerMode:erMode::ode:useuserModuserMode:euserMode::rususerMode:euserMode:ruuserModeususerMode:erMode::seuseruserMode:Mode:rModeuseuserMode:userMode:de:userModeuseuserMode:ruseruserMode:ModeuuseuserMode:rMode:serModususerMode:erModeuserModeuserModeuserMode::::e::Mode::ususerMode:erModuseuseuserMode:rMuserMode:ouserMode:de:ruserMode:MuserMode:oduserMode:euserMode::e:useruseuseruserMode:Mode:rMode:Mode:.cpp:	userMode:		userMode:rususerMode:erModuserMode:e:t->useuserMode:rMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
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rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->a2userMode:,ruseruserModuserMode:euserMode::MouseruserususerMode:euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususerMode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:de:Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserMode:rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuserMode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserMode:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuserMode:rMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMuserMode:ode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserMuserMode:oduserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuserMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMouserMode:de:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:oduserMode:ususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseususerMode:erMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:userMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:ususerMode:erMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserModeuserMode:::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserModeuserMode::userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouserMode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserMode:seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususerMode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuserMode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:userMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususerMode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuserMode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruserMode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuserMode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuserMode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuserMode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuserMode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:Mode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususerMode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rMuserMode:oduserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserModeuserMode::Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMuserMode:ode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserModuserMode:e:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMouserMode:de:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ouserMode:de:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuserMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMusususerMode:erMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:duserMode:e:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserModeuserMode::suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMuserMode:ouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeuserMode:rMode:erMode:serModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMouserMode:de:erMode:F[2]ususerMode:erModeuserMode::useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMuserMode:ouserMode:de::userMode:uuserModuserMode:e:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerModeuserMode::erMode:eususerModeuserMode::eruserMode:Mode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:userMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserMouserMode:deususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserModuserMode:e:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oauserMode:luuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuseruserMode:Mode:serMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserModeuserMode::ModeuserMode::e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:oduserMode:euserModeuuseruserMode:Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:de:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserMode:ode:euuserMode:serMode:rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:userMode:eruserMode:Mode:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserMode::userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMouserMode:de:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserMode:Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::userModeuserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserMuserMode:odususerMode:erMode:userMuserMode:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuuserMode:serMode::userMode:e:e:seuserModuserMode:e:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMouserMode:de:e:erMode:eususerMode:erMode:userMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::oduserMode:e:userMouseuserMode:rMode:e:rMouserMode:de:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:ode:erModeuserMode::uuserMode:seuserMode:rMouseruuserMode:suserMode:erModeuserMode::Mode:userMode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:userMode:ruserMode:Mode:Mode:useruuserMode:serModuserMode:e:Mode:userMode:uususerMode:erMuserMode:ode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MususerMode:erMouserModeuserMode::de:useuseuserMode:rMode:rMode:ode:	rt->duserMode:userMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuuserMode:serMode::Mode:uuserMode:serModuuserMode:serModuserModeuserModeuserMode:::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[ususerMode:eruserModusususerMode:erMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: 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rt-useruserMode:MouseuseuserModuseuserMode:rMode:e:rMode:rMode:serMuserMode:oduseruserModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:uuserMode:serMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMuserMode:ode:uuserMode:serMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:ModeuserMode::",rt->userMode:x[userMode:userMuuserMode:serMode:userMode:ode:userMode:0userMode:useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userModeuserMode::userususeruserMode:Mode:serMuserMode:oduseuserModuserMode:euserMode::rMode:e:useruserMode:userModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euseruserMode:ModuserMode:e::uuserMode:seruserModeususerMode:erMuserMode:ode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuuserMode:serMode:e:userMuserMode:ode::duseuserMouserMode:duuserMode:serMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuseruserMode:Mode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[userMode:1userMuserMode:ode:], rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserModuserMode:e:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserModuserMode:e::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuseuserMode:rMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:Mode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruseruserMode:Mode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:userMode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserModeuseruserMode:Mode::ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuuseruserMode:Mode:serMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0useruseruserMode:Mode:ModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[useruserMode:Mode:userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMuseruserMode:Mode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuseruserMode:Mode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:useruseruserMode:Mode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruseruserMode:Mode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuseuserMode:rMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],uuserMode:serMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erModeuserMode::e:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMode:rMuseruserMode:Mode:userMode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuserMode:seruserMode:ModeuuserMode:serMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruserModuserMode:e:Mode:[userMode:ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserModeuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MuserMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserMode:serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouserMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouserMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = 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=useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, 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rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuserMode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuserMode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euuserMode:seruseruserMode:Mode:userMode:Mode:useuserMode:rMode:::userMouserMode:de:useuserModeuserModeuserMode:::rMuserModeususerMode:erMode::ode:useuserModuserMode:euserMode::rususerMode:euserMode:ruuserModeususerMode:erMode::seuseruserMode:Mode:rModeuseuserMode:userMode:de:userModeuseuserMode:ruseruserMode:ModeuuseuserMode:rMode:serModususerMode:erModeuserModeuserModeuserMode::::e::Mode::ususerMode:erModuseuseuserMode:rMuserMode:ouserMode:de:ruserMode:MuserMode:oduserMode:euserMode::e:useruseuseruserMode:Mode:rMode:Mode:.cpp:	userMode:		userMode:rususerMode:erModuserMode:e:t->useuserMode:rMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
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userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->pid,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuserMode:rMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMuserMode:ode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserMuserMode:oduserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:userMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuseuserMode:rMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMouserMode:de:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:oduserMode:ususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseususerMode:erMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:userMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:ususerMode:erMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserModeuserMode:::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserModeuserMode::userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouserMode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuseruserMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususerMode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuserMode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:userMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususerMode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuserMode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruserMode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuserMode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuserMode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuserMode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:userMode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:Mode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususerMode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rMuserMode:oduserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserModeuserMode::Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMuserMode:ode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserModuserMode:e:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMouserMode:de:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ouserMode:de:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:userMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserModuserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuseuserMode:rMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMusususerMode:erMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:duserMode:e:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserModeuserMode::suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMuserMode:ouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserMode:e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:					userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userModeuseuseruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeuserMode:rMode:erMode:seruserMode:ModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMouserMode:de:erMode:F[2]ususerMode:erModeuserMode::useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMuserMode:ouserMode:de::userMode:uuserModuserMode:e:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerModeuserMode::erMode:eususerModeuserMode::eruserMode:Mode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:userMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserMouserMode:deususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserModuserMode:e:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oauserMode:luuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuseruserMode:Mode:serMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserModeuserMode::ModeuserMode::e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:oduserMode:euserModeuuseruserMode:Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:de:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserMode:ode:euuserMode:serMode:rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:userMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserMode::userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMouserMode:de:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserMode:Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::userModeuserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:odeuserMode::erMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserMuserMode:odususerMode:erMode:userMuserMouserMode:de:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuuserMode:serMode::userMode:e:e:seuserModuserMode:e:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMouserMode:de:e:erMode:eususerMode:erMode:userMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::oduserMode:e:userMouseuserMode:rMode:e:rMouserMode:de:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:ode:erModeuserMode::uuserMode:seuserMode:rMouseruuserMode:suserMode:erModeuserMode::Mode:userMode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:userMode:ruserMode:Mode:Mode:useruuserMode:serModuserMode:e:Mode:userMode:uususerMode:erMuserMode:ode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MususerMode:erMouserModeuserMode::de:useuseuserMode:rMode:rMode:ode:	rt->duserMode:userMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuuserMode:serMode::Mode:uuserMode:serModuuserMode:serModuserModeuserModeuserMode:::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[ususerMode:eruserModusususerMode:erMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: rt->dususerMode:erMuuserMode:seruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserModeuserMode::edFouserModeuuserMode:serMode:userMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:useruserMode:Mode:rMode:ruserModususerMode:eruserMode:MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:ususerMode:euserMode:ruuserMuserMode:ode:suserMode:erMode:Mode:userMouserMode:de:uuserMode:serModeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMususerModeuserMode::erMode:ode:MouserMode:de:uususerMode:erMode:userMode:serMode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:eususerMode:eruserMuseuserMode:rModuserMode:e:ode:Mode::ususerMode:erMuserMode:ode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMouserMode:de:userMode:oruuserMode:seususeruserMode:Mode:eruserMouseruserMode:useuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:eruserMode:Mode:deuserModuserMode:e::ususerMode:erususerMode:euseruseuserMode:rMode:Mode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerModuserMode:e:erMode:ModeuserMode::duserModuserModuserMouserMouserModeuserMode::de:de:e:e:e:uuuserMode:serMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:ususerMode:erModeuserMode:userMode:::usuuserMode:suserMode:erMode:eruuserMode:suserMode:userMode:erMode:MouserMuserMode:ode:de:uuserususerMode:erMode:ModeuserMode:uuserMode:serMode::seuuserMode:serMuserMode:odeuserMode::rModuserModuserMode:e:euseruseuserMode:rMode:Mode::rt->userMouserMode:duserMode:userMode:e:forceuseuserModuserMode:e:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserMuserMode:odeuserMode::ode:ususerMode:erMode:MuserMode:ode:useuserMode:userModeuserMode::rMouseruserMode:Mode:de:userMode:userMode:userMususerMode:userMode:erMode:userMode:ode:uuserMode:seruserMouseruuserMode:serMode:ModuserMode:e:userMode:de:userMuseruserModuserModeuserMode::euserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode:userMode::ode:userMouserMode:de:ModususerMode:euserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:ruserMode:MuserMode:ode:userMode:seruseuserMode:rMuserMode:ode:				userMode:rt-userMouserMuserMode:oduseruserMode:Mode:e:de:userMode:>force[useruseuserModuserMode:e:rMode:MuserMode:ode:useuseuserMode:rMode:rMode:userMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserModuserMode:e::ModeuserMode::orce[2]userModeuserMuserMode:ode::)useusuuserMode:serMode:erMode:rModuseuserMode:rMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuseuserMode:rMode:::rt->uuserMouserModuserMode:userMode:e:dususeuserMouserMode:de:rMouserModuserMode:e:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouseruserMode:Mode:deuserMuserMode:useuserMode:rMode:ode::uuserMouserModuserMode:e:deuserMode::suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: rt-useruserMode:MouseuseuserModuseuserMode:rMode:e:rMode:rMode:serMuserMode:oduseruserModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:uuserMode:serMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMuserMode:ode:uuserMode:serMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:ModeuserMode::",rt->userMode:x[userMode:userMuuserMode:serMode:userMode:ode:userMode:0userMode:useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userModeuserMode::userususeruserMode:Mode:serMuserMode:oduseuserModuserMode:euserMode::rMode:e:useruserMode:userModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euseruserMode:ModuserMode:e::uuserMode:seruserModeususerMode:erMuserMode:ode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuuserMode:serMode:e:userMuserMode:ode::duseuserMouserMode:duuserMode:serMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuseruserMode:Mode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[userMode:1userMuserMode:ode:], rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserModuserMode:e:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserModuserMode:e::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuseuserMode:rMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:Mode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruseruserMode:Mode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:useruserMode:Mode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserModeuseruserMode:Mode::ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuuseruserMode:Mode:serMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0useruseruserMode:Mode:ModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[useruserMode:Mode:userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMuseruserMode:Mode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuseruserMode:Mode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:useruseruserMode:Mode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruseruserMode:Mode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserMode:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuseuserMode:rMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserMode::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],uuserMode:serMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4useruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erModeuserMode::e:userMode:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMode:rMuseruserMode:Mode:userMode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuserMode:seruserMode:ModeuuserMode:serMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruserModuserMode:e:Mode:[userMode:ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserModeuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:userMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserMode:serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:Mode:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouseuserMode:rMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt->userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouserMode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruserMode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:serModuserMuseruserMode:Mode:ouserMode:de:euususerMode:erMode:seruseruserMode:Mode:userMode:Mode:useuserMode:rMode:::userMouserMode:de:useuserModeuserModeuserMode:::rMuserModeususerMode:erMode::ode:useuserModuserMode:euserMode::rususerMode:euserMode:ruuserModeususerMode:erMode::seuseruserMode:Mode:rModeuseuserMode:userMode:de:userModeuseuserMode:ruseruserMode:ModeuuseuserMode:rMode:serModususerMode:erModeuserModeuserModeuserMode::::e::Mode::ususerMode:erModuseuseuserMode:rMuserMode:ouserMode:de:ruserMode:MuserMode:oduserMode:euserMode::e:useruseuseruserMode:Mode:rMode:Mode:.cpp:	userMode:		userMode:rususerMode:erModuserMode:e:t->useuserMode:rMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
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rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMuserModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususerMode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s 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=userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// 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57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususerMode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuserMode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:userMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususerMode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuserMode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruserMode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuserMode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuserMode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuserMode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 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rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:de:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuserMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserMode:ode:euuserMode:serModeuserMode::rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:userMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], 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useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerMode:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserMode:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserMode:serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserMode:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:ModuserMode:e:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouseuserMode:rMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMode:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoal[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuserMode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMode:ode:uuuseruserMode:Mode:serMode:serModeuuseruseuseruseruserMode:Mode:Mode:rMode:Mode:suserMode:erModuserMuseruserMode:Mode:ouserMode:de:euususerMode:erMode:seruseruserMode:Mode:userMode:Mode:useuserMode:rMode:::userMouserMode:de:useuserModeuserModeuserMode:::rMuserModeususerMode:erMode::ode:useuserModuserMode:euserMode::rususerMode:euserMode:ruuserModeususerMode:erMode::seuseruserMode:Mode:rModeuseuserMode:userMode:de:userModeuseuserMode:ruseruserMode:ModeuuseuserMode:rMode:serModususerMode:erModeuserModeuserModeuserMode::::e::Mode::ususerMode:erModuseuseuserMode:rMuserMode:ouserMode:de:ruserMode:MuserMode:oduserMode:euserMode::e:useruseuseruserMode:Mode:rMode:Mode:.cpp:	userMode:		userMode:rususerMode:erModuserMode:e:t->useuserMode:rMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuserMode::);
userMuseruuserMode:serMode:Mode:ouserModeuserMode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:userMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMouserModeuserMode::de:useuserModeuserModuseruserMode:Mode:e::rMode:ususeuserMode:rMode:eruserususerModeuseruserMode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseususeruserMode:Mode:erMode:rMode::userMode:dususeruserModuserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususerMode:erEusuuserModeuserModeuseruserMode:Mode:::serMode:erMouserMode:deuserMode::xit !=usususeruserMode:Mode:erModeuserModeuserMode:::euseruserMode:Mode:ruseruserMode:Mode:MuserMode: rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:rameters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususerMode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:userMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuserMode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:ruserMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuserMode:rMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMuserMode:ode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserMuserMode:oduserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erMode:serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::userMode:de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuseuserMode:rMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMouserMode:de:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:oduserMode:ususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseususerMode:erMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:userMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:ususerMode:erMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserModeuserMode:::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserModeuserMode::userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouserMode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserModuserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususerMode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususerMode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuserMode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:userMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususerMode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuserMode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruserMode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuserMode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuserMode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:Mode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususerMode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rMuserMode:oduserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserModeuserMode::Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMuserMode:ode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserModuserMode:e:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMouserMode:de:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ouserMode:de:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:ode:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:uuserMode:serMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserMuserMode:oduserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuseuserMode:rMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMusususerMode:erMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:duserMode:e:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserModeuserMode::suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], 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userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:erususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], 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rt-ususerMouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] 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rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuserMode:e::Mode::qgoauserMode:l[0],userMode: 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rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususerMode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruserMode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- 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rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuserMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususerMode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:serMode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuserMode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserMode:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuserMode:rMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMuserMode:ode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserMuserMode:oduserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuseruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erModeuserMode::serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::userMode:de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuseuserMode:rMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMouserMode:de:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:oduserMode:ususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseususerMode:erMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:userMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:ususerMode:erMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserModeuserMode:::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserModeuserMode::userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouserMode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserMode:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:oduserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususerMode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususerMode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuserMode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:userMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususerMode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuserMode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruserMode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuserMode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:Mode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususerMode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rMuserMode:oduserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserModeuserMode::Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMuserMode:ode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserModuserMode:e:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMouserMode:de:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ouserMode:de:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMode:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:oduserMode:e:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:uuserMode:serMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserMuserMode:oduserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuseuserMode:rMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMusususerMode:erMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:duserMode:e:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserModeuserMode::suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMuserMode:ouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuserMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userModeuseuserMode:useruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeuserMode:rMode:erMode:seruserMode:ModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMouserMode:de:erMode:F[2]ususerMode:erModeuserMode::useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMuserMode:ouserMode:de::userMode:uuserModuserMode:e:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerModeuserMode::erMode:eususerModeuserMode::eruserMode:Mode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:userMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserMouserMode:deususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserModuserMode:e:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oauserMode:luuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuseruserMode:Mode:serMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserModeuserMode::ModeuserMode::e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:oduserMode:euserModeuuseruserMode:Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:duserMode:e:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuserMode:userMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserMode:ode:euuserMode:serModeuserMode::rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:userMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserMode::userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMouserMode:de:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serModeuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserModeuserMode::Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::userModuserMode:euserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:odeuserMode::euserMode:rMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserMuserMode:odususerMode:erMode:userMuserMouserMode:de:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuuserMode:serMode::userMode:e:e:seuserModuserMode:e:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: 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rt->fuserususerMuserMuserMode:ode:ode:erModeuserModuserMode:e::ModeuserMode::orce[2]userModeuserMususerMode:erMode:ode::)useusuuserMode:serMode:erMode:rModuseuserMode:rMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuseuserMode:rMode:::rt->uuserMouserModuseruserMode:Mode:userMode:e:dususeuserMouserMode:de:rMouserModuserMode:e:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouseruserMode:Mode:deuserMuserMode:useuserMode:rMode:ode::uuserMouserModuserMode:e:deuserMode::suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: rt-useruserMode:MouseuseuserModuseuserMode:rMode:e:rMode:rMode:serMuserMode:oduseruserModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:uuserMode:serMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMuserMode:ode:uuserMode:serMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:ModeuserMode::",rt->userMode:x[userMode:userMuuserMode:serMode:userMode:ode:userMode:0userMode:useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userModeuserMode::userususeruserMode:Mode:serMuserMode:oduseuserModuserMode:euserMode::rMode:e:useruserMode:userModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euseruserMode:ModuserMode:e::uuserMode:seruserModeususerMode:erMuserMode:ode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuuserMode:serMode:e:userMuserMode:ode::duseuserMouserMode:duuserMode:serMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuseruserMode:Mode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[userMode:1userMuserMode:ode:], rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserModuserMode:e:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserModuseruserMode:Mode:e::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuseuseruserMode:Mode:rMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:Mode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruseruseruserMode:Mode:Mode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:useruserMode:Mode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserModeuseruserMode:Mode::ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuuseruserMode:Mode:serMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0useruseruserMode:Mode:ModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[useruserMode:Mode:userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMuseruserMode:Mode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuseruserMode:Mode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:useruseruserMode:Mode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruseruserMode:Mode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserModuserMode:e:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuseuserMode:rMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserModeuserMode:::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],uuserMode:serMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4uuserMode:seruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erModeuserMode::e:userMode:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMode:rMuseruserMode:Mode:userMode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuserMode:seruserMode:ModeuuserMode:serMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruserModuserMode:e:Mode:[userMode:ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserModeuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:userMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserMode:serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruseruserMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:userMode:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:ModuserMode:e:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouseuserMode:rMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModuserMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euserMode:rususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:useruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususerMode:erMode:ModuseruseruserMode:Mode:Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuserMode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususerMode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::useuserModeuseruserMode:Mode::userMode:rMuserMuserMode:ode:ode:uuuseruserMode:Mode:serMode:serModeuuuserMode:seruseuseruseruserMode:Mode:Mode:rMode:Mode:suserMode:erModuserMuseruserMode:Mode:ouserMode:de:euususerMode:erMode:seruseruserMode:Mode:userMode:Mode:useuserMode:rMode:::userMouserMode:de:useuserModeuserModeuserMode:::rMuserModeususerMode:erMode::ode:useuserModuserMode:euserMode::rususerMode:euserMode:ruuserModeususerMode:erMode::seuseruserMode:Mode:rModeuseuserMode:userMode:de:userModeuseuserMode:ruseruserMode:ModeuuseuserMode:rMode:serModususerMode:erModeuserModeuserModeuserMode::::e::Mode::ususerMode:erModuseuseuserMode:rMuserMode:ouserMode:de:ruserMode:MuserMode:oduserMode:euserMode::e:useruseuseruserMode:Mode:rMode:Mode:.cpp:	userMode:		userMode:rususerMode:erModuserMode:e:t->useuserMode:rMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuserMode::MouserMode:deuserMode:::MuserMode:odeuserModuserMode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
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rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserMode::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususerMode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:ususerModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModuserMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuserMode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuserMode:rMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMuserMode:ode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserMuserMode:oduserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserMode:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseususerMode:eruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erModeuserMode::serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::userMode:de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuseuserMode:rMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMouserMode:de:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:oduserMode:ususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseususerMode:erMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:userMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:ususerMode:erMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserModeuserMode:::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserModeuserMode::userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouserMode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:oduserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususerMode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususerMode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuserMode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:userMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususerMode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuserMode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruserMode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:Mode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususerMode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rMuserMode:oduserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserModeuserMode::Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMuserMode:ode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserModuserMode:e:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMouserMode:de:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ouserMode:de:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duserMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMouserMode:de:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:oduserMode:e:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:uuserMode:serMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserMuserMode:oduserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuseuserMode:rMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMusususerMode:erMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:duserMode:e:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserModeuserMode::suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMuserMode:ouseruserMode:Mode:duserMode:userMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userModeuseuserMode:useruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeuserMode:rMode:erMode:seruserMode:ModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMouserMode:de:erMode:F[2]ususerMode:erModeuserMode::useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMuserMode:ouserMode:de::userMode:uuserModuserMode:e:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerModeuserMode::erMode:eususerModeuserMode::eruserMode:Mode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:userMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserMouserMode:deususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserModuserMode:e:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oauserMode:luuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuseruserMode:Mode:serMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserModeuserMode::ModeuserMode::e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:oduserMode:euserModeuuseruserMode:Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seuserMode:ruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:duserMode:e:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuserMode:userMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserMode:ode:euuserMode:serModeuserMode::rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:userMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserMode::userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMouserMode:de:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:userMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serMouserMode:deuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserModeuserMode::Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::userModuserMode:euserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:odeuserMode::euserMode:rMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserMuserMode:odususerMode:erMode:userMuserMouserMode:de:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuuserMode:serMode::userMode:e:e:seuserModuserMode:e:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMouserMode:de:e:erMode:eususerMode:erMode:userMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::oduserMode:e:userMouseuserMode:rMode:e:rMouserMode:de:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:ode:erModeuserMode::uuserMode:seuserMode:rMouseruuserMode:suserMode:erModeuserMode::Mode:userMode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:userMode:ruserMode:Mode:Mode:useruuserMode:serModuserMode:e:Mode:userMode:uususerMode:erMuserMode:ode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MususerMode:erMouserModeuserMode::de:useuseuserMode:rMode:rMode:ode:	rt->duserMode:userMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuuserMode:serMode::Mode:uuserMode:serModuuserMode:serModuserModeuserModeuserMode:::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[ususerMode:eruserModusususerMode:erMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:Mode:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: 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rt-useruserMode:MouseuseuserModuseuserMode:rMode:e:rMode:rMode:serMuserMode:oduseruserModuseruserMode:Mode:e:Mode:e:userModeuserMode::userMode:useuserMode:ruuuseruserMode:Mode:userMode:serMode:seuserMode:uuserMode:serMuserMode:oduserMode:e:ruseuserMuserMode:ode:rMuserMode:ode:uuserMode:serMode:ModeuseuserMuserMode:ouserMode:de:rModeuseuserMode:rMode:::userMouserMode:de:ModeuserMode::",rt->userMode:x[userMode:userMuuserMode:serMode:userMode:ode:userMode:0userMode:useuseruserMode:Mode:rMode:userMuserMode:ode:ususerMode:erMode:userMode:userModeuserMode::userususeruserMode:Mode:serMuserMode:oduseuserModuserMode:euserMode::rMode:e:useruserMode:userModuserMouseruserMode:Mode:de:userMode:euserMode::ModuserMode:euseruserMode:ModuserMode:e::uuserMode:seruserModeususerMode:erMuserMode:ode::		//useuseruseuserMode:rModuserMode:e:ModeuserMode::userModuserMode:e:ruserMode:MouserModeuserModuuserMode:serMode:e:userMuserMode:ode::duseuserMouserMode:duuserMode:serMode:userModuserMode:e:e:rMouserMouseruserMode:Mode:de:de:e:	useruseuserMode:rMouserMode:deuserMuseruserMode:Mode:ode::Mode:		rt->xuserModeuserMuserMode:ode::[userMode:1userMuserMode:ode:], rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserModuseruserMode:Mode:e:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserModuseruserMode:Mode:e::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuseuseruserMode:Mode:rMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:Mode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruseruseruserMode:Mode:Mode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:useruserMode:Mode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserModeuseruserMode:Mode::ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuuseruserMode:Mode:serMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0useruseruserMode:Mode:ModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[useruserMode:Mode:userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMuseruserMode:Mode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserModuserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuseruserMode:Mode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:useruseruserMode:Mode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::userMode:e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruseruserMode:Mode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserModuserMode:e:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuseuserMode:rMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserModeuserMode:::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],uuserMode:serMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4uuserMode:seruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erModeuserMode::e:userMode:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMode:rMuseruserMode:Mode:userMode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuserMode:seruserMode:ModeuuserMode:serMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruserModuserMode:e:Mode:[userMode:ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserModeuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deususerMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserMode:serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserMode:ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:userMode:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:ModuserMode:e:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouseuserMode:rMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duserMode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:erMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euserMode:rususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMode:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = 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0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruserMode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruserMode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::userModeuseuseruserMode:Mode:rModeuserMode:::uuserMode:seuserModeuseruserMode:Mode::userMode:rMuserMuserMode:ode:ode:uuuseruserMode:Mode:serMode:serModeuuuserMode:seruseuseruseruserMode:Mode:Mode:rMode:Mode:suserMode:erModuserMuseruserMode:Mode:ouserMode:de:euususerMode:erMode:seruseruserMode:Mode:userMode:Mode:useuserMode:rMode:::userMouserMode:de:useuserModeuserModeuserMode:::rMuserModeususerMode:erMode::ode:useuserModuserMode:euserMode::rususerMode:euserMode:ruuserModeususerMode:erMode::seuseruserMode:Mode:rModeuseuserMode:userMode:de:userModeuseuserMode:ruseruserMode:ModeuuseuserMode:rMode:serModususerMode:erModeuserModeuserModeuserMode::::e::Mode::ususerMode:erModuseuseuserMode:rMuserMode:ouserMode:de:ruserMode:MuserMode:oduserMode:euserMode::e:useruseuseruserMode:Mode:rMode:Mode:.cpp:	userMode:		userMode:rususerMode:erModuserMode:e:t->useuserMode:rMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: 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userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuserMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuserMode:rMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMuserMode:ode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserMuserMode:oduserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuserModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::rt->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserModuserMode:e:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseususerMode:eruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erModeuserMode::serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::userMode:de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuseuserMode:rMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMouserMode:de:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:oduserMode:ususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseususerMode:erMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:userMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:ususerMode:erMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserModeuserMode:::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserModeuserMode::userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouserMode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:Mode:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususerMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rModeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:oduserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususerMode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususerMode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuserMode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:userMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususerMode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuserMode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:Mode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususerMode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rMuserMode:oduserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserModeuserMode::Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMuserMode:ode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserModuserMode:e:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:e:userMuseruserMode:MuserMode:oduserMode:e:oduserMouserMode:de:euserMode::userMode:deuseruserMode:Mode::seuserMode:ruseruserMode:Mode:ModuserMode:e:userMuserMuserMode:ouserMode:de:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duseuserMode:rMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMouserMode:de:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:oduserMode:e:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:uuserMode:serMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserMuserMode:oduserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuseuserMode:rMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMusususerMode:erMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:duserMode:e:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserModeuserMode::suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:			userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserMode:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMuserMode:ouseruserMode:Mode:duserMode:ususerMode:erMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userModeuseuserMode:useruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeuserMode:rMode:erMode:seruserMode:ModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMouserMode:de:erMode:F[2]ususerMode:erModeuserMode::useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMuserMode:ouserMode:de::userMode:uuserModuserMode:e:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerModeuserMode::erMode:eususerModeuserMode::eruserMode:Mode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:userMode:Mode:duserMode:e:rMuserMouserMode:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserMouserMode:deususerMode:erMuserMuserMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserModuserMode:e:goal[1]userMode:,rt->xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oauserMode:luuserMode:serMuserMode:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuseruserMode:Mode:serMode:e:rMode:MoususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserModeuserMode::ModeuserMode::e:rMode:ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:oduserMode:euserModeuuseruserModeuserMode::Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seuserMode:ruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:duserMode:e:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuserMode:userMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserMode:ode:euuserMode:serModeuserMode::rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:userMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erMode:xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:ode:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userususerMode:euserModuserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserMode::userMouserMuserMode:ode:de:useuserMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMouserMode:de:euserModuseuserMode:rMode:e:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serMouserMode:deuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserModeuserMode::Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::userModuserMode:euserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:odeuserMode::euserMode:rMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserMuserMode:odususerMode:erMode:userMuserMouserMode:de:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuuserMode:serMode::userMode:e:e:seuserModuserMode:e:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMouserMode:de:e:erMode:eususerMode:erMode:userMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuserModeuuserMode:seruserMode:Mode::oduserMode:e:userMouseuserMode:rMode:e:rMouserMode:de:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:ode:erModeuserMode::uuserMode:seuserMode:rMouseruuserMode:suserMode:erModeuserMode::Mode:userMode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:userMode:ruserMode:Mode:Mode:useruuserMode:serModuserMode:e:Mode:userMode:uususerMode:erMuserMode:ode:serMouserMode:de:userMode:userMode:ususerMode:eruserMode:MususerMode:erMouserModeuserMode::de:useuseuserMode:rMode:rMode:ode:	rt->duserMode:userMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserususerMode:erModeuuserMode:serMode::Mode:uuserMode:serModuuserMode:serModuserModeuserModeuserMode:::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[ususerMode:eruserModusususerMode:erMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:MouserMode:de:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: rt->dususerMode:erMuuserMode:seruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMouserMode:deuserMode::edFouserModeuuserMode:serMode:userMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:useruserMode:Mode:rMode:ruserModususerMode:eruserModeuserMode::MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:ususerMode:euserMode:ruuserMuserMode:ode:suserMode:erMode:Mode:userMouserMode:de:uuserMode:serMuserMode:odeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMususerModeuserMode::erMode:ode:MouserMode:de:uususerMode:erMode:userMode:serMuserMode:ode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:eususerMode:eruserMuseuserMode:rModuserMode:e:ode:Mode::ususerMode:erMuserMode:ode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMouserMode:de:userMode:oruuserMode:seususeruserMode:Mode:eruserMouseruserMode:useuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:eruserMode:Mode:deuserModuserMode:e::ususerMode:erususerMode:euseruseuserMode:rMode:Mode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerModuserMode:e:erMode:ModeuserMode::duserModuserModuserMouserMouserModeuserMode::de:de:e:e:e:uuuserMode:serMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:ususerMode:erModeuserMode:userMode:::usuuserMode:suserMode:erMode:eruuserMode:suserMode:userMode:erMode:MouserMuserMode:ode:de:uuserususerMode:erMode:ModeuserMode:uuserMode:serMode::seuuserMode:serMuserMode:odeuserMode::rModuserModuserMode:e:euseruseuserMode:rMode:Mode::rt->userMouserMode:duserMode:userMode:e:forceuseuserModuserMode:e:useruserMode:Mode:rMode:uuserMode:seruseruserMode:MuserMuserMode:odeuserMode::ode:ususerMode:erMode:MuserMode:ode:useuserMode:userModeuserMode::rMouseruserMode:Mode:de:userMode:userMode:userMususerMode:userMode:erMode:userMode:ode:uuserMode:seruserMouseruuserMode:serMode:ModuserMode:e:userMode:de:userMuseruserModuserModeuserModeuserMode:::euserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode:userMode::ode:userMouserMode:de:ModususerMode:euserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:userMode:ruserMode:MuserMode:ode:userMode:seruseuserMode:rMuserMode:ode:				userMode:rt-userMouserMuserMode:oduseruserMode:Mode:e:de:userMode:>force[useruseuserModuserModeuserMode::e:rMode:MuserMode:ode:useuseuserMode:rMode:rMode:userMode:1], 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5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserModeuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:Mode::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: 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5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususerMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserMode::ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 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rt-ususerMouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:userMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
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=useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, 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rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuserMode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouserMode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuserususerModuseruserMode:Mode:e:erMode:Mode:::uuserMode:serModeuseuseruserMode:Mode:rModeuserMode:::uuserMode:seuserModeuseruserMode:Mode::userMode:rMuserMuserMode:ode:ode:uuuseruserMode:Mode:serMode:serModeuuuserMode:seruseuseruseruserMode:Mode:Mode:rMode:Mode:suserMode:erModuserMuseruserMode:Mode:ouserMode:de:euususerMode:erMode:seruseruserMode:Mode:userMode:Mode:useuserMode:rMode:::userMouserMode:de:useuserModeuserModeuserMode:::rMuserModeususerMode:erMode::ode:useuserModuserMode:euserMode::rususerMode:euserMode:ruuserModeususerMode:erMode::seuseruserMode:Mode:rModeuseuserMode:userMode:de:userModeuseuserMode:ruseruserMode:ModeuuseuserMode:rMode:serModususerMode:erModeuserModeuserModeuserMode::::e::Mode::ususerMode:erModuseuseuserMode:rMuserMode:ouserMode:de:ruserMode:MuserMode:oduserMode:euserMode::e:useruseuseruserMode:Mode:rMode:Mode:.cpp:	userMode:		userMode:rususerMode:erModuserMode:e:t->useuserMode:rMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuserMode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
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rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserMode:Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, 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usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModeuserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuserMode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::userMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuserMode:rMode::tiuserMode:me 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ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserModeuseruserMode:Mode::ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:Mode:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuuseruserMode:Mode:serMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:de:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0useruseruserMode:Mode:ModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[useruserMode:Mode:userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duserModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMuseruserMode:Mode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMuserMode:oduserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuseruserMode:Mode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:userMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:useruseruserMode:Mode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::userMode:e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruseruserMode:Mode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserModuserMode:e:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuseuserMode:rMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserModeuserMode:::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],uuserMode:serMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4uuserMode:seruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erModeuserMode::e:userMode:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMode:rMuseruserMode:Mode:userMode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuserMode:seruserMode:ModeuuserMode:serMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruserModuserMode:e:Mode:[userMode:ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruserMode:ususerModeuserModeuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:MuserMode:ode::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserMode:serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rMode:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserMode::ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:userMode:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:ModuserMode:e:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouseuserMode:rMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:Mode:au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euserMode:rususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userMode:,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruseuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuserMode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruserMode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuserMode:euususeruserMode:Mode:erMode:serModeuseuserMode:rususerModuseruserMode:Mode:e:erMode:Mode:::uuserMode:serModeuseuseruserMode:Mode:rModeuserMode:::uuserMode:seuserModeuseruserMode:Mode::userMode:rMuserMuserMode:ode:ode:uuuseruserMode:Mode:serMode:serModeuuuserMode:seruseuseruseruserMode:Mode:Mode:rMode:Mode:suserMode:erModuserMuseruserMode:Mode:ouserMode:de:euususerMode:erMode:seruseruserMode:Mode:userMode:Mode:useuserMode:rMode:::userMouserMode:de:useuserModeuserModeuserMode:::rMuserModeususerMode:erMode::ode:useuserModuserMode:euserMode::rususerMode:euserMode:ruuserModeususerMode:erMode::seuseruserMode:Mode:rModeuseuserMode:userMode:de:userModeuseuserMode:ruseruserMode:ModeuuseuserMode:rMode:serModususerMode:erModeuserModeuserModeuserMode::::e::Mode::ususerMode:erModuseuseuserMode:rMuserMode:ouserMode:de:ruserMode:MuserMode:oduserMode:euserMode::e:useruseuseruserMode:Mode:rMode:Mode:.cpp:	userMode:		userMode:rususerMode:erModuserMode:e:t->useuserMode:rMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuserMode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
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rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruserMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususerMode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserMode:deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuserMode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususerMode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuserMode:rMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMuserMode:ode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserMuserMode:oduserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, 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rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:oduserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususerMode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususerMode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuserMode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:userMode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: 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5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruseruserMode:Mode:ususerModeuserModeuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:MuserMode:ode::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserMode:serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserMode::ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:userMode:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:ModuserMode:e:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouseuserMode:rMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuserMode::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euserMode:rususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserMode::,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserMode:odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruserMode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuserMode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususerMode:erModuseruserMode:Mode:euserMode::ModuseuserMode:rMode:euususeruserMode:Mode:erMode:serModeuseuserMode:rususerModuseruserMode:Mode:e:erMode:Mode:::uuserMode:serModeuseuseruserMode:Mode:rModeuserMode:::uuserMode:seuserModeuseruserMode:Mode::userMode:rMuserMuserMode:ode:ode:uuuseruserMode:Mode:serMode:serModeuuuserMode:seruseuseruseruserMode:Mode:Mode:rMode:Mode:suserMode:erModuserMuseruserMode:Mode:ouserMode:de:euususerMode:erMode:seruseruserMode:Mode:userMode:Mode:useuserMode:rMode:::userMouserMode:de:useuserModeuserModeuserMode:::rMuserModeususerMode:erMode::ode:useuserModuserMode:euserMode::rususerMode:euserMode:ruuserModeususerMode:erMode::seuseruserMode:Mode:rModeuseuserMode:userMode:de:userModeuseuserMode:ruseruserMode:ModeuuseuserMode:rMode:serModususerMode:erModeuserModeuserModeuserMode::::e::Mode::ususerMode:erModuseuseuserMode:rMuserMode:ouserMode:de:ruserMode:MuserMode:oduserMode:euserMode::e:useruseuseruserMode:Mode:rMode:Mode:.cpp:	userMode:		userMode:rususerMode:erModuserMode:e:t->useuserMode:rMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuserMode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:userMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMouserModeuserMode::de:useuserModeuserModuseruserMode:Mode:e::rMode:ususeuserMode:rMode:eruserususerModeuseruserMode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseususeruserMode:Mode:erMode:rMode::userMode:dususeruserModuserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususerMode:erEusuuserModeuserModeuseruserMode:Mode:::serMode:erMouserMode:deuserMode::xit !=usususeruserMode:Mode:erModeuserModeuserMode:::euseruserMode:Mode:ruseruserMode:Mode:MuserMode: rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:serModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususerMode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userMode:		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuserMode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode:userMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususerMode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuserMode:rMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMuserMode:ode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserMuserMode:oduserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruserMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:userMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuseruserMode:ModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::ruserMode:t->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserModuserMode:e:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseususerMode:eruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erModeuserMode::serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::userMode:de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuseuserMode:rMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMouserMode:de:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:oduserMode:ususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseususerMode:erMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:userMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:ususerMode:erMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserModeuserMode:::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserModeuserMode::userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouserMode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMode:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:ModuserMode:e:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususeuserMode:rMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:oduserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususerMode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususerMode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuserMode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:Mode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususerMode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rMuserMode:oduserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserModeuserMode::Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMuserMode:ode:userMouserMode:deuserMode::uuuserMode:suserMode:erMode:userMode:seuseuserMode:rMode:uususeuseuseruserModuserMode:e:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:euserMode::userMuseruserMode:MuserMode:oduserMode:e:oduserMouserMode:de:euserMode::userMode:deuseruserMode:Mode::seuserMode:rususerMode:eruserMode:Mode:ModuserMode:e:userMuserMuserMode:ouserMode:de:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::userMode:ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duseuserMode:rMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMouserMode:de:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:oduserMode:e:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:uuserMode:serMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserMuserMode:oduserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuseuserMode:rMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMusususerMode:erMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:duserMode:e:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserModeuserMode::suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], 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useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserMode:serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserMode::ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:userMode:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:ModuserMode:e:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouseuserMode:rMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMode:userMode::userMode:userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuseuserMode:rMode::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euserMode:rususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuserMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserMode::,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuserMode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususerMode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->userMode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMode:erMuseuseruserMode:Mode:rMode:ode:rususeruserMode:Mode:erModuseruserMode:Mode:euserMode::ModuseuserMode:rMode:euususeruserMode:Mode:erMode:serModeuseuserMode:rususerModuseruserMode:Mode:e:erMode:Mode:::uuserMode:serModeuseuseruserMode:Mode:rModeuserMode:::uuserMode:seuserModeuseruserMode:Mode::userMode:rMuserMuserMode:ode:ode:uuuseruserMode:Mode:serMode:serModeuuuserMode:seruseuseruseruserMode:Mode:Mode:rMode:Mode:suserMode:erModuserMuseruserMode:Mode:ouserMode:de:euususerMode:erMode:seruseruserMode:Mode:userMode:Mode:useuserMode:rMode:::userMouserMode:de:useuserModeuserModeuserMode:::rMuserModeususerMode:erMode::ode:useuserModuserMode:euserMode::rususerMode:euserMode:ruuserModeususerMode:erMode::seuseruserMode:Mode:rModeuseuserMode:userMode:de:userModeuseuserMode:ruseruserMode:ModeuuseuserMode:rMode:serModususerMode:erModeuserModeuserModeuserMode::::e::Mode::ususerMode:erModuseuseuserMode:rMuserMode:ouserMode:de:ruserMode:MuserMode:oduserMode:euserMode::e:useruseuseruserMode:Mode:rMode:Mode:.cpp:	userMode:		userMode:rususerMode:erModuserMode:e:t->useuserMode:rMode:a3[i]useuserMode:ruseuserModuseuserModeuserMode::rMode:e:ruseruserMode:Mode:Mode:Mode: uuseruuserMode:suserMode:erMouserMode:duserMode:e:ModuserModuserMode:e:e:suserMuseruserMode:Mode:oduserMode:e:erMouserMode:de:userMode:ususerMode:eruseuserMode:rModeuseuserMode:rMode::Mode:ususerMode:eruseuserMode:rMode:MouserMode:duserMode:euseuserMode:rMode:useruserMode:MouuserMode:seruseuserModeuserMode::rModuserMode:e:Mode:duserMode:useruserMode:MuserMode:oduserMode:e:Mode:de:uuserMode:suserMode:erMouserMode:duserMuseruserMode:ModuserMode:e:ode:e:ususeruserMode:Mode:userMode:eruserMouserMode:de:userMode:2[userMode:i]useruserMouserModuseuserMode:rMode:euseuseruserMode:Mode:rMode::de:Mode:,ruserMode:t-userMode:>auuserMode:serMode:3[i]userMode:uuserMode:suserMode:useruserMode:MuserMode:ode:eruserMouserMode:de:MouseruserMuserMode:ode:Mode:duuseuserModeuserMode::rMode:serMuseuserMode:rMode:ode:userMode:e:uuserMode:serMode:userMouserMode:de:: 0: %f \n"userModeuserMode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:userMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMouserModeuserMode::de:useuserModeuserModuseruserMode:Mode:e::rMode:ususeuserMode:rMode:eruserususerModeuseruserMode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseususeruserMode:Mode:erMode:rMode::userMode:dususeruserModuserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususerMode:erEusuuserModeuserModeuseruserMode:Mode:::serMode:erMouserMode:deuserMode::xit !=usususeruserMode:Mode:erModeuserModeuserMode:::euseruserMode:Mode:ruseruserMode:Mode:MuserMode: rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususerMode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserMode:e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuserMode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuserususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:userMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode:userMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususerMode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuserMode:rMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMuserMode:ode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserMuserMode:oduserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::erMode:om userMouserMode:de:userMode:rt-userMode:>time, 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rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:oduserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususerMode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deuserMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususerMode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:Mode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususerMode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rMuserMode:oduserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserModeuserMode::Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserMode:deuseruserMode:Mode::ode::useruserMode:Mode:userMuserMode:ode:userMouserMode:deuserMode::uuuserMode:suserMode:erModeuserMode::userMode:seuseuserMode:rMode:uususeuseuseruserModuserMode:e:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:euserMode::userMuseruserMode:MuserMode:oduserMode:e:oduserMouserMode:de:euserMode::userMode:deuseruserMode:Mode::seuserMode:rususerMode:eruserMode:Mode:ModuserMode:e:userMuserMuserMode:ouserMode:de:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::userMode:ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duseuserMode:rMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMouserMode:de:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:oduserMode:e:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:uuserMode:serMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserMuserMode:oduserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuseuserMode:rMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMusususerMode:erMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:duserMode:e:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserModeuserMode::suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerMode:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:userMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserModuserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], 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5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruseruserMode:Mode:ususerModeuserModeuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:MuserMode:ode::e:],userMode: 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userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duserModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ode:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserMode:serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserMode::ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:userMode:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userMode:ModuserMode:e:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:rMode:e:de:ouseuserMode:rMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:userMode::userMode:userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuseuserMode:rMode::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euserMode:rususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMode:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouserMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserMode::,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuserMode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuserMode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMode:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:userMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMouserModeuserMode::de:useuserModeuserModuseruserMode:Mode:e::rMode:ususeuserMode:rMode:eruserususerModeuseruserMode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseususeruserMode:Mode:erMode:rMode::userMode:dususeruserModuserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususerMode:erEusuuserModeuserModeuseruserMode:Mode:::serMode:erMouserMode:deuserMode::xit !=usususeruserMode:Mode:erModeuserModeuserMode:::euseruserMode:Mode:ruseruserMode:Mode:MuserMode: 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uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anduserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususerMode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuserMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuserMode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuuserMode:serususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:userMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode:userMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususerMode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuserMode:rMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMuserMode:ode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserMuserMode:oduserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::eruserMode:Mode:om 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(tuuseruserMode:ModuserMode:e:seruseuserMode:rMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:userMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuseruserMode:ModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::ruserMode:t->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserModuserMode:e:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseususerMode:eruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erModeuserMode::serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::userMode:de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuseuserMode:rMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMouserMode:de:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:oduserMode:ususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseususerMode:erMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:userMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:ususerMode:erMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserModeuserMode:::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserModeuserMode::userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouserMode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMouserMode:de:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMuserMode:ode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:ModuserMode:e:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususeuserMode:rMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], 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ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:Mode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususerMode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rMuserMode:oduserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::ususerModeuserMode::eruserModuseruserModeuserMode::Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserModeuserMode::deuseruserMode:Mode::ode::useruserMode:Mode:userMuserMode:ode:userMouserMode:deuserMode::uuuserMode:suserMode:erModeuserMode::userMode:seuseuserMode:rMode:uususeuseuseruserModuserMode:e:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:euserMode::userMuseruserMode:MuserMode:oduserMode:e:oduserMouserMode:de:euserMode::userMode:deuseruserMode:Mode::seuserMode:rususerMode:eruserMode:Mode:ModuserMode:e:userMuserMuserMode:ouserMode:de:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::userMode:ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duseuserMode:rMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMouserMode:de:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:oduserMode:e:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:uuserMode:serMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserMuserMode:oduserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuseuserMode:rMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMusususerMode:erMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:duserMode:e:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserModeuserMode::suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:userMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserModuserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMuserMode:ouseruserMode:Mode:duserMode:ususerMode:erMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userModeuseuserMode:useruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeuserMode:rMode:erMode:seruserMode:ModeuserMode::F[useuserMode:rMode:1], 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rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserMode::,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->ususerModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruserMode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:userMode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuseuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:userMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMouserModeuserMode::de:useuserModeuserModuseruserMode:Mode:e::rMode:ususeuserMode:rMode:eruserususerModeuseruserMode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseususeruserMode:Mode:erMode:rMode::userMode:dususeruserModuserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususerMode:erEusuuserModeuserModeuseruserMode:Mode:::serMode:erMouserMode:deuserMode::xit !=usususeruserMode:Mode:erModeuserModeuserMode:::euseruserMode:Mode:ruseruserMode:Mode:MuserMode: rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserMode:ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususerMode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuserMode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserMode::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMuserMode:ouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuuserMode:serususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:userMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode:userMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususerMode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuserMode:rMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMuserMode:ode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserMuserMode:oduserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuserMode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:userMode:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::eruserMode:Mode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruseuserMode:rMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:userMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuseruserMode:ModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::ruserMode:t->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserModuserMode:e:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseususerMode:eruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erModeuserMode::serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::userMode:de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuseuserMode:rMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMouserMode:de:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:oduserMode:ususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseususerMode:erMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:userMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:ususerMode:erMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserModeuserMode:::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserModeuserMode::userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouserMode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserMode:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:userMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMouserMode:de:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMuserMode:ode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:ModuserMode:e:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususeuserMode:rMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:oduserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususerMode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususerMode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruserMode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:Mode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususerMode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rMuserMode:oduserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMouserMode:duserMode:e:userMuserMode:userMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::userMode:ususerModeuserMode::eruserModuseruserModeuserMode::Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserModeuserMode::deuseruserMode:Mode::ode::useruserMode:Mode:userMuserMode:ode:userMouserMode:deuserMode::uuuserMode:suserMode:erModeuserMode::userMode:seuseuserMode:rMode:uususeuseuseruserModuserMode:e:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:euserMode::userMuseruserMode:MuserMode:oduserMode:e:oduserMouserMode:de:euserMode::userMode:deuseruserMode:Mode::seuserMode:rususerMode:eruserMode:Mode:ModuserMode:e:userMuserMuserMode:ouserMode:de:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::userMode:ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duseuserMode:rMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMouserMode:de:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:oduserMode:e:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:uuserMode:serMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserMuserMode:oduserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuseuserMode:rMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMusususerMode:erMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:duserMode:e:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserModeuserMode::suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMouserMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:userMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserModuserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMuserMode:ouseruserMode:Mode:duserMode:ususerMode:erMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userModeuseuserMode:useruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeuserMode:rMode:erMode:seruserMode:ModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMouserMode:de:erMode:F[2]ususerMode:erModeuserMode::useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMuserMode:ouserMode:de::userMode:uuserModuserMode:e:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerModeuserMode::erMode:eususerModeuserMode::eruserMode:Mode:userMode::ter_orguserModuserMode:e:.cpp:	userMode:	userMode:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:userMode:Mode:duserMode:e:rMuserMouserMouserMode:de:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserMouserMode:deususerMode:erMuserMuuserMode:serMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserModuserMode:e:goal[1]userMode:,rt-userMode:>xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oauserMode:luuserMode:serMuserModuserMode:e:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuseruserMode:Mode:serMode:e:rMode:MuserMode:oususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserModeuserMode::ModeuserMode::e:rModeuserMode::ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:oduserMode:euserModeuuseruserModeuserMode::Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seuserMode:ruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:duserMode:e:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuserMode:userMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserMode:ode:euuserMode:serModeuserMode::rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:userMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuserMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erModeuserMode::xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:oduserMode:e:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userususerMode:euserMuserMode:oduserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserMode::userMouserMuserMode:ode:de:useuserMode:userMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMouserMode:de:euserModuseuserMode:rMode:e:userMode:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMuserMode:ode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serMouserMode:deuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserModeuserMode::Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::userModuserMode:euserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:odeuserMode::euserMode:rMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserMuserMode:odususerMode:erMode:userMuserMouserMode:de:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuuserMode:serMode::userMode:e:e:seuserModuserMode:e:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: rt->F[2useuserMuserMode:uuserMode:sususerModuserMouserMode:de:e:erMode:eususerMode:erMode:userMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuuserMode:serModeuuserMode:seruserMode:Mode::oduserMode:e:userMouseuserMode:rMode:e:rMouserMode:de:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:odeuserMode::erModeuserMode::uuserMode:seuserMode:rMouseruuserMode:suserMode:erModeuserMode::Mode:userMode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:useuserMode:rMode:ruserMode:Mode:Mode:useruuserMode:serModuserMode:e:Mode:userMode:uususerMode:erMuserMode:ode:serMouserMode:de:userMode:userMode:ususerMode:eruserMouserMode:de:MususerMode:erMouserModeuserMode::de:useuseuserMode:rMode:rMode:ode:	rt->duserMode:userMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserusuuserMode:serMode:erModeuuserMode:serMode::Mode:uuserMode:serModuuserMode:serModuserModeuserModeuserMode:::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[ususerMode:eruserModusususerMode:erMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:MouserMode:de:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: 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rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserModuseruserMode:Mode:e:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserModuseruserMode:Mode:e::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuseuseruserMode:Mode:rMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:Mode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruseruseruserMode:Mode:Mode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suserMouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:useruserMode:Mode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMuserMode:ode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserModeuseruserMode:Mode::ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:MouserMode:de:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuuseruserMode:Mode:serMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:duserMode:e:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0useruseruserMode:Mode:ModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:userMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[useruserMode:Mode:userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duseruserMode:ModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMuseruserMode:Mode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMuserMode:oduserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuseruserMode:Mode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:userMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:useruseruserMode:Mode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::userMode:e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruseruserMode:Mode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserModuserMode:e:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuseuserMode:rMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserModeuserMode:::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],uuserMode:serMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:Mode:q[4uuserMode:seruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erMouserMode:deuserMode::e:userMode:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMouserMode:de:rMuseruserMode:Mode:userMode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuseuserMode:rMode:seruserMode:ModeuuserMode:serMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruuserMode:serModuserMode:e:Mode:[userMode:ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruseruserMode:Mode:ususerModeuserModeuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:MuserMode:ode::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duuserMode:serModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouserMode:de:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserMode:serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserMode::ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:userMode:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:userMode::userMode:userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuseuserMode:rMode::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euserMode:rususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserMode::,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruserMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuserMode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuserMode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruserMode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:ususerMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
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rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususerMode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, 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usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuserMode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: userMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:userMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserModeuserMode:::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMuserMode:ouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuuserMode:serususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:userMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode:userMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususerMode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuserMode:rMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMuserMode:ode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserMuserMode:oduserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuseruserMode:Mode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:userMode:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::eruserMode:Mode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruseuserMode:rMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:userMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuseruserMode:ModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::ruserMode:t->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserModuserMode:e:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseususerMode:eruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erModeuserMode::serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::userMode:de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuseuserMode:rMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMouserMode:de:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:oduserMode:ususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseususerMode:erMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:userMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:ususerMode:erMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserModeuserMode:::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserModeuserMode::userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouserMode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserModuserMode:e:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:userMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMouserMode:de:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMuserMode:ode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:ModuserMode:e:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususeuserMode:rMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:oduserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususerMode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuserMode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususerMode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruserMode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:Mode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususerMode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;useuseruserMode:Mode:rMuserMode:oduserModeuserMode::e:",rtuserMouserMode:de:userMode:->userMuserMode:ode:x[0userMode:userMouserMode:duserMode:e:userMuserMode:userMode:userModuseruserMode:Mode:e:useruuserMode:serModeuserMode::userMode:ususerModeuserMode::eruserModuseruserModeuserMode::Mode:e:Mode:MouserMode:de:oduserMode:euserMuserMouserModeuserMode::deuseruserMode:Mode::ode::useruserMode:Mode:userMuserMode:ode:userMouserMode:deuserMode::uuuserMode:suserMode:erModeuserMode::userMode:seuseuserMode:rMode:uususeuseuseruserModuserMode:e:Mode:rMode:rMode:erMouseruuserMode:serMode:ModuserMode:euserMode::userMuseruserMode:MuserMode:oduserMode:e:oduserMouserMode:de:euserMode::userMode:deuseruserMode:Mode::seuserMode:rususerMode:eruserMode:Mode:ModuserMode:e:userMuserMuserMode:ouserMode:de:odeuserMode::rModeuserMouseruserMode:userMode:Mode:de::userMode:ususeuuserMode:suserMode:eususerMode:erMode:rModususerMode:erMode:e:rMode:eruserMode:ModuuserMouserMouserMode:de:duseuserMode:rMode:e:serMode:e:ususeruserMode:ModeuserMode::erMuserMode:ode:userModuserMode:userMode:e:useuserMode:rMode:uususerMouserMode:de:erModuserMode:e:suserMode:erMouserMuseruseruseruserMode:Mode:Mode:ModuserMode:e:ode:deuseususerMode:erMuserMode:oduserMode:e:rMoususerMode:userMode:euserMode:ruseruserModeususerMode:erModuserMode:euseruserMode:Mode:::Mode:Mode:userMode:de:uuserMode:serMode::userMode:useruseuserMode:rMouseususerModeuserMode::erMode:rMode:userMode:de::userModuseuserMode:rMouseruserMuserMode:oduserMode:e:Mode:de:userMode:e:uuseuserMode:rModeuserMode::userMode:suserMode:erMuserMode:userMode:ode:useuserModuseuserMode:rMode:e:rMode:priususerMode:erMuserModuserMode:eususerMode:erModuuserMode:suserMode:userModuserMode:e:erModeuserMusususerMode:erMode:erMode:odeuserMususerMode:erMode:ode:::e::ouserMode:deususerMode:erMode::nteuserMode:userMoususerMode:erMode:duserMode:e:ruseuserMode:rMode:_org.useruseruserMode:Mode:MouserMode:uuserMode:seuserMode:rMode:de:cpp:		//userMode:		uuserModeuserMode::suserModeuuserMode:serMode::erModuserMouserMode:userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:userMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserModuserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMuserMode:ouseruserMode:Mode:duserMode:ususerMode:erMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userModeuseuserMode:useruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeuserMode:rMode:erMode:seruserMode:ModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMouserMode:de:erMode:F[2]ususerMode:erModeuserMode::useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMuserMode:ouserMode:de::userMode:uuserModuserMode:e:seuseruserMode:MuseuserMode:userModuserMode:e:rMode:oduserMode:euserMode:dususerModeuserMode::erMode:eususerModeuserMode::eruserMode:Mode:userMode::ter_orguserModuserMode:e:userMode:.cpp:	userMode:	userMode:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:userMode:Mode:duserMode:e:rMuserMouserMouserMode:de:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserMouserMode:deususerMode:erMuserMuuserMode:serMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserModuserMode:e:goal[1]userMode:,rt-userMode:>xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oauserMode:luuserMode:serMuserModuserMode:e:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuseruserMode:Mode:serMode:e:rMode:MuserMode:oususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserModeuserMode::ModeuserMode::e:rModeuserMode::ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:oduserMode:euserModeuuseruserModeuserMode::Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seuserMode:ruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:duserMode:e:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuserMode:userMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserMode:ode:euuserMode:serModeuserMode::rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:userMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:ouserMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuseuserMode:rMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erModeuserMode::xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:oduserMode:e:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userususerMode:euserMuserMode:oduserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserMode::userMouserMuserMode:ode:de:useuserMode:userMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMouserMode:de:euserModuseuserMode:rMode:e:userMode:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMuserMode:ode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serMouserMode:deuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserModeuserMode::Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::userModuserMode:euserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:odeuserMode::euserMode:rMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: rt->fuseuserMode:rModeuserModuserMuserMode:odususerMode:erMode:userMuserMouserMode:de:ode:e:e::orce[ususerMode:erModeuserMode::2]);useuserMode:rModuserMode:e:uuserModuserMode:e:suserModeuuserMode:serMode::userMode:e:e:seuserModuserMode:e:ruseruserMode:ModuserMode:userMode:e:userMode:Mode: 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rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserModuseruserMode:Mode:e:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserModuseruserMode:Mode:e::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuseuseruserMode:Mode:rMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:Mode:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruseruseruserMode:Mode:Mode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suseruserMode:MouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:useruserMode:Mode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMuserMode:ode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserModeuseruserMode:Mode::ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:MouserMode:de:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuuseruserMode:Mode:serMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:duserMode:e:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0useruseruserMode:Mode:ModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:userMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[useruserMode:Mode:userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duseruserMode:ModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMuseruserMode:Mode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMuserMode:oduserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuseruserMode:Mode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:userMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:useruseruserMode:Mode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::userMode:e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruseruserMode:Mode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserModuserMode:e:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuseuserMode:rMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserModeuserMode:::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],uuserMode:serMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:ModeuserMode::q[4uuserMode:seruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erMouserMode:deuserMode::e:userMode:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMouserMode:de:rMuseruserMode:Mode:userMode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuseuserMode:rMode:seruserMode:ModeuuserMode:serMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruuserMode:serModuserMode:e:Mode:[userMode:ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruseruserMode:Mode:ususerModeuserModeuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:MuserMode:ode::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],userMode:useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duuserMode:serModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouserMode:de:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserMode:serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserMode::ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:userMode::userMode:userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuseuserMode:rMode::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MuserMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euserMode:rususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserMode::,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserMode:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuserMode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quserMode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuserMode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->userMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
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rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:->userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, 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usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuserMode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// 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userMode:rt->userModeuserMode::userMode:timuserMode:userMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususerMode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuserMode:rMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMuserMode:ode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:serMode:e euuserMuserMode:oduserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserMode:rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unt iuserMode:usuuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouseuseruserMode:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMode::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:userMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couuserMode:ususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuseruserMode:Mode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:userMode:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::eruserMode:Mode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruseuserMode:rMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:userMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuseruserMode:ModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::ruserMode:t->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserModuserMode:e:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseususerMode:eruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erModeuserMode::serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::userMode:de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuseuserMode:rMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMouserMode:de:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:oduserMode:ususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseususerMode:erMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:userMode:erMode:Mode:ususerMode:erMuseruserMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:ususerMode:erMode:MouserMuserMode:ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserModeuserMode:::rMouserMode:userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserModeuserMode::userMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouseruserMode:Mode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserModuserMode:e:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:userMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMouserMode:de:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMuserMode:ode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:ModuserMode:e:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususeuserMode:rMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:oduserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususerMode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMode:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususerMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*userModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserMode::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuserMode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuserMode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususerMode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruserMode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:Mode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususerMode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuserMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:userMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserModuserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMuserMode:ouseruserMode:Mode:duserMode:ususerMode:erMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userModeuseuserMode:useruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeuserMode:rMode:erMode:seruserMode:ModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMouserMode:de:erMode:F[2]ususerMode:erModeuserMode::useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMode:e::userModeuserMuserMode:ouserMode:de::userMode:uuserModuserMode:e:seuseruserMode:MuseuserMode:userModuserMode:e:ruserMode:Mode:oduserMode:euserMode:dususerModeuserMode::erMode:eususerModeuserMode::eruserMode:Mode:userMode::ter_orguserModuserMode:e:userMode:.cpp:	userMode:	userMode:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:userMode:Mode:duserMode:e:rMuserMouserMouserMode:de:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserMouserMode:deususerMode:erMuserMuuserMode:serMode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserModuserMode:e:goal[1]userMode:,rt-userMode:>xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oauserMode:luuserMode:serMuserModuserMode:e:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useuserModuuseruserMode:Mode:serMode:e:rMode:MuserMode:oususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserMode:userMuseuserModuseruserModeuserMode::ModeuserMode::e:rModeuserMode::ode:[userMode:userMode:userMode:1useruuserMode:serModuserMode:e:Mode:uuserModeuserMode::serMuserMode:oduserMode:euserModeuuseruserModeuserMode::Mode:serMouserMode:de:::], rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seuserMode:ruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:duserMode:e:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuserMode:userMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserMode:ode:euuserMode:serModeuserMode::rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:Mode:userModususerMode:userMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserMode:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:oususerMode:erMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuseuserMode:rMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erModeuserMode::xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:oduserMode:e:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userususerMode:euserMuserMode:oduserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserMode::userMouserMuserMode:ode:de:useuserMode:userMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMouserMode:de:euserModuseuserMode:rMode:e:userMode:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMuserMode:ode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serMouserMode:deuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserModeuserMode::Mode:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::userModuserMode:euserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:odeuserMode::euserMode:rMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: 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rt->F[2useuserMuserModuserMode:e:uuserMode:sususerModuserMouserMode:de:e:erMode:eususerMode:erMode:userMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuuserMode:serModeuuserMode:seruserMode:Mode::oduserMode:e:userMouseuserMode:rMode:e:rMouserMode:de:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:odeuserMode::erModeuserMode::uuserMode:seuserMode:rMouseruuserMode:suserMode:erModeuserMode::Mode:userMode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:useuserMode:rMode:ruserMode:Mode:Mode:useruuserMode:serModuserMode:e:Mode:userMode:uususerMode:erMuserMode:ode:serMouserMode:de:userMode:userMode:ususerMode:eruserMouserMode:de:MususerMode:erMouserModeuserMode::de:useuseuserMode:rMode:rMode:ode:	rt->duserMode:userMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserusuuserMode:serMode:erModeuuserMode:serMode::Mode:uuserMode:serModuuserMode:serModuserModeuserModeuserMode:::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[ususerMode:eruserModusususerMode:erMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:MouserMode:de:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: rt->dususerMode:erMuuserMode:seruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMouserMode:deuserMode::edFouserModeuuserMode:serMode:userMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:useruserMode:Mode:rMode:ruserModususerMode:eruserModeuserMode::MususerModeuserModeuserMode:::erMode:ode:euserMode::Mode:ususerMode:euserMode:ruuserMuserMode:ode:suserMode:erMode:Mode:userMouserMode:de:uuserMode:serMuserMode:odeuserMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMususerModeuserMode::erMode:ode:MouserMode:de:uususerMode:erMode:userMode:serMuserMode:ode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:eususerMode:eruserMuseuserMode:rModuserMode:e:ouserMode:de:Mode::ususerMode:erMuserMode:ode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMouserMode:de:userMode:oruuserMode:seuserMode:ususeruserMode:Mode:eruserMouseruserMode:useuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:eruserMode:Mode:deuserModuseuserMode:rMode:e::ususerMode:erususerMode:euseruseuserMode:rMode:Mode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerModuserMode:e:erModeuserMode::ModeuserMode::duserModuserModuserMouserMouserModeuserMode::de:de:e:e:e:uuuserMode:serMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:ususerMode:erModeususerMode:erMode:userMode:::usuuserMode:suserMode:erMode:eruuserMode:suserMode:userMode:erMode:MouserMuserMode:ode:de:uuserususerMode:erMode:ModeuserMode:uuserMode:serMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserModuserMode:e:euseruseuserMode:rMode:Mode::rt->userMouserMode:duserMode:userMode:e:forceuseuserModuserMode:e:userususerMode:erMode:Mode:rMode:uuserMode:seruseruserMode:MuserMuserMode:odeuserMode::ode:ususerMode:erMode:MuserMode:ode:useuserMode:userModeuserMode::rMouseruserMode:Mode:de:userMode:userMode:userMode:userMususerMode:userMode:erMode:userMode:ode:uuserMode:seruserMouseruuserMode:serMode:ModuserMode:e:userMode:de:userMuseruserModuserModeuserModeuserMode:::euserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode:userMode::ode:userMouserMode:de:ModususerMode:euserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:userMode:ruserMode:MuserMode:ode:userMode:seruseuserMode:rMuserMode:ode:				userMode:rt-userMouserMuserMode:oduseruserMode:Mode:e:de:userMode:>force[useruseuserModuserModeuserMode::e:rMode:MuserMode:ode:useuseuserMode:rMode:rMode:userMode:1], rt->fuserususerMuserMuserMode:ode:ode:erModeuserModuserMode:e::ModeuserMode::orce[2]userModeuserMususerMode:erMode:ode::)useusuuserMode:serMode:erMode:rModuseuserMode:rMode:euserMode::;useuserMode:rModeuserMode:ususerMode:erModeuseuserMode:rMode:::rt->uuserMouserModuseruserMode:Mode:userMode:e:dususeuserMode:userMouserMode:de:rMouserModuserMode:e:de:erMode:e:suserMode:erMode:FuserMode:[0],useruserModeuserMode::userMode:MouseruserMode:Mode:deuserMuserMode:useuserMode:ruserMode:Mode:ode::uuserMouserModuserMode:e:deuserMode::suserMode:erMode::userMode:ouseruserMode:Mode:userMouserMode:de:de: 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rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuserMode::ModuseuserModuseruserMode:Mode:e:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserMode:seuserMode:useuserMode:rModeuserModuseruserMode:Mode:e::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::userMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuseuseruserMode:Mode:rMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:ModuserMode:e:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruseruseruserMode:Mode:Mode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suseruserMode:MouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:useruserMode:Mode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMuserMode:ode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserModeuseruserMode:Mode::ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:MouserMode:de:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuuseruserMode:Mode:serMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:duserMode:e:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0useruseruserMode:Mode:ModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:userMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[useruserMode:Mode:userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duseruserMode:ModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMuseruserMode:Mode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMuserMode:oduserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruserMode:t->q[0userMode:]userMode:useuseruserMode:Mode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:userMode:Mode:rt->q[userMode:useuserMode:userMode:userMode:rMode:1]userModeuserMode::, userMode:useruseruserMode:Mode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::userMode:e:ruuserMode:serMode:Mode:.userMode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruseruserMode:Mode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserModuserMode:e:de:MuserMode:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuseuserMode:rMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserModeuseruserMode:Mode:::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],uuserMode:serMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:ModeuserMode::q[4uuserMode:seruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erMouserMode:deuserMode::e:userMode:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMouserMode:de:rMuseruserMode:Mode:userMode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuseuserMode:rMode:seruserMode:ModeuuserMode:serMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruuserMode:serModuserMode:e:Mode:[userMode:ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruseruserMode:Mode:ususerModeuserModeuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:MuserMode:ode::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMode:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:userMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],userMode:useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duuserMode:serModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouserMode:de:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserMode:serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserMode::ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouserMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:userMode::userMode:userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuseuserMode:rMode::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:userMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euserMode:rususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserMode::,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::useruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuserMode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruserMode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]userMode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserMode::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:userMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMouserModeuserMode::de:useuserModeuserModuseruserMode:Mode:e::rMode:ususeuserMode:rMode:eruserususerModeuseruserMode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseususeruserMode:Mode:erMode:rMode::userMode:dususeruserModuserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususerMode:erEusuuserModeuserModeuseruserMode:Mode:::serMode:erMouserMode:deuserMode::xit !=usususeruserMode:Mode:erModeuserModeuserMode:::euseruserMode:Mode:ruseruserMode:Mode:MuserMode: rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususerMode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::serMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserMode:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuserMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuserMode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserMode:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: ususerMode:erMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:useuserMode:rMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserModeuserMode:::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMuserMode:ouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuuserMode:serususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:userMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode:userMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususerMode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuserMode:rMode::tiuserMode:me 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57.3*rt->uuserMode:seruserMode:ModeuserMode::q[4uuserMode:seruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erMouserMode:deuserMode::e:userMode:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMouserMode:de:rMuseruserMode:Mode:userMode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuseuserMode:rMode:seruserMode:ModeuuserMode:serMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruuserMode:serModuserMode:e:Mode:[userMode:ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruseruserMode:Mode:ususerModeuserModeuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:erMode:odeuseruserMode:MuserMode:ode::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seruserMouserMode:de:Mode:quserMode:_deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:userMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMouserMode:de:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:userMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],userMode:useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duuserMode:serModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouserMode:de:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserMode:serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuserMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5useruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserMode::ode:seruserMode:Mode:eruserMode:userMode:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:userMode::userMode:userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuseuserMode:rMode::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserMode:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euserMode:rususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserMode::,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userMode:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
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= tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuserMode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: 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rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruserMode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>userMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
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rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserMode::Mode:erEuuserMode:seuserMode:rModuserMouseruserMode:Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususerMode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:Mode:de:serMode::serModuseuserMode:rMode:euserMode::userMouserMode:de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:ususerMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userMode:iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::seuserMode:rMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// 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ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:Mode:serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususerMode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuuserMode:serMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:userMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserModuserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], 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57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:userMode::userMode:userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuseuserMode:rMode::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::ode:ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouseuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euserMode:rususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserMode::,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruserMode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususerMode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuserMode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = 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rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[i]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
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rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususerMode:erMode:rMuserMode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruserMode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususerMode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeuserMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
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rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruserMode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseuseuseruserMode:Mode:Mode:MuserMode:odeuserMode::userMode:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, 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=userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// 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userMode:rt->userModeuserMode::userMode:timuserMode:userMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususerMode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuserMode:rMode::tiuserMode:me 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(tuuseruserMode:ModuserMode:e:seruseuserMode:rMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:userMode:serModuserModeuserMode::euserModeuseuseruseuserMode:rModuserMode:e:Mode:ruserMode:uuseuseruserMode:ModuserMode:e:userMode:ruserMode:MouserMode:de:e:odeuserMuserModeuserModeuserMode:::ode::ruserMode:t->timeuserModuserMode:e:userModeuserMode::useuserModuserMode:e:userMode:userMode:ruserModuserMode:e:Mode:userModuserMode:euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseususerMode:eruserMode:ModuserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erModeuserMode::serMouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::userMode:de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:Mode:useuserMode:rMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuserMode:e:useuseuserMode:rMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMuserModeuserMode::ode:rMouserMode:de:seruserModeuserMode::_modeuserMuserMode:useuserMode:ruserMode:ModuserMuserMode:ode:e:oduserMode:ususerMode:eususerMode:euserMode:rMode:rMoususerMode:erMode:de:e:useuserMuserMode:odeuseususerMode:erMode:rMode:uuserMode:serModuseruserMode:Mode:e::rMode:)userMode:userusuuserMode:serMode:userMode:erMode:Mode:ususerMode:erMuseruuserMode:serMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:ususerMode:erMode:MouserMuserModeuserMode::ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserModeuserMode:::rMouserModeuserMode::userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserModeuserMode::useuserMode:rMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouseruserMode:Mode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserModuserMode:e:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:userMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMouserMode:de:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:uuserMode:suserMode:userModuserMuserMode:ode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:ouserMode:de:p:			//			ruseruseruserMode:ModuserMode:e:MuserMode:ode:t-userMuserMode:ode:>xuserMoususerMode:erModeuseruserMode:Mode::duserMode:e:[1ususeuserMode:rMode:erMuserMode:ode:uuserMode:serModeuserModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:oduserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususerMode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:userMode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userModuserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouserMode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuserMode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*ususerMode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserModeuserMode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuserMode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuserMode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususerMode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruserMode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserMode:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMuserMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:ModeuserMode::serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususeruserMode:Mode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuuserMode:serMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:userMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserModuserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMuserMode:ouseruserMode:Mode:duserMode:ususerMode:erMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:deuserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserMode:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	userMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userMouserMode:deuseuserMode:useruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeususerMode:erMode:rMode:erMode:seruserMode:ModeuserMode::F[useuserMode:rMode:1], 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rt->x[2]uuserMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seuserMode:ruserMode:userMuserMode:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:duserMode:e:euserModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuseruserMode:Mode:userMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserModeuserMode::ode:euuserMode:serModeuserMode::rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:ModeuserMode::userModususerMode:userMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserModuserMode:e:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:oususerMode:erMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuseuserMode:rMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erModeuserMode::xee[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:oduserMode:e:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userususerMode:euserMuserMode:oduserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserMode::userMouserMuserMode:ode:de:useuserMode:userMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususerMode:erMouserMode:de:euserModuseuserMode:rMode:e:userMode:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserMode:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMuserMode:ode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:usuuserMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serMouserMode:deuserModuserMode:useuserMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserModeuserMode::ModuserMode:e:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::ususerMode:erModuserMode:euserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:userMode:odeuserMode::euserMode:rMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: 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rt->F[2useuserMuserModuserMode:e:uuserMode:sususerModuserMouserMode:de:e:erMode:eususerMode:erMode:userMode:rMode:ode:rMode:userMouserMode:de:useuserMode:rMode:uuserMode:serMuuserMode:serModeuuserMode:seruserMode:Mode::oduserMode:e:userMouseuserMode:rMode:e:rMouserMode:de:userMode:ususeuseuserMode:rMode:rMode:userMuserMode:odeuserMode::erModeuserMode::uuserMode:seuserMode:rMouseruuserMode:suserMode:erModeuserMode::Mode:userMode:duserMode:e:useruserMode:Mode:userMode:useruseuserMode:useuserMode:rMode:ruserMode:Mode:Mode:useruuserMode:serModuserMode:e:Mode:userMode:uususerMode:erMuserMode:ode:serMouserMode:de:userMode:userMode:ususerMode:eruserMouserMode:de:MususerMode:erMouserModeuserMode::de:useuseuserMode:rMode:rMode:ode:	rt->duserMode:userMode:userMuuserMode:seuserMode:rMouserMode:duserMode:e:ouserusuuserMode:serMode:erModeuuserMode:serMode::Mode:uuserMode:serModuuserMode:serModuserModeuserModeuserMode:::userMode:e:e:userMode:userMode:de:esuserMode:iuuserMode:userMode:userMode:serMuserMode:ouuserMode:serMode:de:userMode:redForce[ususerMode:eruserModusususerMode:erMode:eruserMode:Mode:e:userMode:useruseruserMode:Mode:MouserMode:de:Mode:userModeuserModeuserMode:userMode:::0],ususerMode:erMode: rt->dususerMode:erMuuserMode:seruserMode:Mode:userMuserMode:odeuserMode::ode:esiruserMouserMode:deuserMode::edFouserModeuuserMode:serModuserMode:e:userMode::rususeuserMode:rModuserMode:e:useruserMode:Mode:useruserMode:Mode:rMode:ruserModususerMode:eruserModeuserMode::MususerModeuserModeususerMode:erMode:::erMode:ode:euserMode::Mode:ususerMode:euserMode:ruuserMuserMode:ode:suserMode:erMode:Mode:userMouserMode:de:uuserMode:serMuserMode:odeuuserMode:serMode::usususerMode:erMode:eruseuserModususerMode:euserMode:rMode:e:rMususerModeuserMode::erMode:ode:MouserMode:de:uususerMode:erMode:userModeuserMode::serMuserMode:ode:uuuserMode:suserMode:eruserMode:Mode:serMuuserModuserMode:e:serMode:oduserMode:eususerMode:eruserMuseuserMode:rModuserMode:e:ouserMode:de:Mode::ususerMode:erMuserMode:ode:useuserMode:rMode:useususerModeuserMode::eruserMode:MuserMode:ouserMode:de:ruserMouserMode:de:userMode:oruuserMode:seuserMode:ususeruserMode:Mode:eruserMouseruserMode:useuserMode:rMode:Mode:de:Mode:rMode:g.cpp:userMode:						userMousuuserMode:serMode:eruserMode:Mode:deuserModuseuserMode:rMode:e::ususerMode:erususerMode:euseruseuserMode:rMode:Mode:rMode:Mode:	rt->desiredFouseuserMode:rMode:rce[useruserMode:MouserususerModuserMode:e:erModeuserMode::ModeuserMode::duserModuserModuserMouserMouserModeuserMode::de:de:e:e:e:uuuserMode:serMouserMode:de:seruserMode:ModuseruserMode:Mode:euserMode:ususerMode:erModeususerMode:erMode:userMode:::usuuserMode:suserMode:erMode:eruuserMode:suserMode:userMode:erMode:MouserMuserMode:ode:de:uuserususerMode:erMode:ModeuserMode:uuserMode:serMode:userMode::seuuserMode:serMuserMode:odeuserMode::rModuserModuserMode:e:euseruseuserMode:rMode:Mode::rt->userMouserMode:duserMode:userMode:e:forceuseuserModuserMode:e:userususerMode:erMode:Mode:rMode:uuserMode:seruseruserMode:MuserMuserMode:odeuserMode::ode:ususerMode:erMode:MuserMode:ode:useuserMode:userModeuserMode::rMouseruserMode:Mode:de:userMode:userMode:userMode:userMususerMode:userMode:erMode:userMode:ode:uuserMode:seruserMouseruuserMode:serMode:ModuserMode:e:userMode:de:userMuseruserModuserModeuserModeuserMode:::euserMode::Mode:ode:MuserMouserMode:de:ouserModeuserMode:userMode::ode:userMouserMode:de:ModuserMode:ususerMode:euserMode:rMuserModeuserMode::ode:e:e:userMode:euserMode:userMode:ruserMode:MuserMode:ode:userMode:seruseuserMode:rMuserMode:ode:				userMode:userMode:rt-userMouserMuserMode:oduseruserMode:Mode:e:de:userMode:>force[useruseuserModuserModeuserMode::e:rMode:MuserMode:ode:useuseuserMode:rMode:rMode:userModeuserMode::1], 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rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuseruserMode:Mode::ModuseuserModuseruserMode:Mode:e:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserModuserMode:e:seuserMode:useuserMode:rModeuserModuseruserMode:Mode:e::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::uuserMode:serMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuseuseruserMode:Mode:rMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:ModuserMode:e:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruseruseruserMode:Mode:Mode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suseruserMode:MouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:useruserMode:Mode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMuserMode:ode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserModeuseruserMode:Mode::ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:MouserMode:de:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuuseruserMode:Mode:serMode:seuserMode:rMode:odeuserMode::suserMode:erMouserMode:duserMode:e:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0useruseruserMode:Mode:ModuserMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:userMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[useruserMode:Mode:userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duseruserMode:ModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMode::erModuserMuseruserMode:Mode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMuserMode:oduserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruseruserMode:Mode:t->q[0userMode:]userMode:useuseruserMode:Mode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:userMode:Mode:rt->q[userMode:useuserMode:userModeuserMode::userMode:rMode:1]userModeuserMode::, userMode:useruseruserMode:Mode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::userMode:e:ruuserMode:serMode:Mode:.useruserMode:Mode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruseruserMode:Mode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserModuserMode:e:de:MuserModuserMode:e:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuseuserMode:rMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserModeuseruserMode:Mode:::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],uuserMode:serMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:ModeuserMode::q[4uuserMode:seruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erMouserMode:deuserMode::e:userMode:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMouserMode:de:rMuseruserMode:Mode:userMode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuseuserMode:rMode:seruserMode:ModeuuserMode:serMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruuserMode:serModuserMode:e:Mode:[userMode:ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseruseruserMode:Mode:ususerModeuserModeuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:euserMode:rMode:odeuseruserMode:MuserMode:ode::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seuserMode:ruserMouserMode:de:Mode:quserMode:_deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:useuserMode:rMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMouserMode:de:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:userMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],userMode:useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duuserMode:serModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouserMode:de:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserMode:serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMode::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserMode::ode:seruserMode:Mode:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:userMode::userMode:userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuseuserMode:rMode::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euserMode:rususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:ode:rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserMode::,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = 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rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuserMode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuserMode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuseuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
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uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, 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userMode:rt->userModeuserMode::userMode:timuserMode:userMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususerMode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuserMode:rMode::tiuserMode:me 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5userMode:7.3*rt-uuserMode:userMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[useruserMode:Mode:userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duseruserMode:ModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMuserMode:ode::erModuserMuseruserMode:Mode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMuserMode:oduserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruseruserMode:Mode:t->q[0userMode:]userMode:useuseruserMode:Mode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:userMode:Mode:rt->q[userMode:useuserMode:userModeuserMode::userMode:rMode:1]userModeuserMode::, userMode:useruseruserMode:Mode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::userMode:e:ruuserMode:serMode:Mode:.useruserMode:Mode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruseruserMode:Mode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserModuserMode:e:de:MuserModuserMode:e:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuseuserMode:rMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserModeuseruserMode:Mode:::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],uuserMode:serMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:ModeuserMode::q[4uuserMode:seruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erMouserMode:deuserMode::e:userMode:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMouserMode:de:rMuseruserMode:Mode:userMode:ode:MouserMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuseuserMode:rMode:seruserMode:ModeuuserMode:serMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruuserMode:serModuserMode:e:Mode:[userMode:ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseuserMode:ruseruserMode:Mode:ususerModeuserModeuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:euserMode:rMode:odeuseruserMode:MuserMode:ode::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seuserMode:ruserMouserMode:de:Mode:quserMode:_deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:useuserMode:rMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMouserMode:de:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:userMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],userMode:useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duuserMode:serModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouserMode:de:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserMode:serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserMode::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserMode::ode:seruserMode:Mode:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:userMode::userMode:userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuseuserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euserMode:rususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserMode:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserMode::,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuserMode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuserMode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruserMode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfuserMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
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uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, 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usuuserModeuserModeuserMode:::seuserMode:rMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		useuserMode:rMode:	// 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ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruserMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserModuserMode:e:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMususerMode:erMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:ModeuserMode::serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususeruserMode:Mode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuuserMode:serMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], 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userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duuserMode:serModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMouserModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouserMode:de:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserMode:serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserMode::ode:seruserMode:Mode:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMuserMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMode:duserMode:euserMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:userMode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuseuserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euserMode:rususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serModeuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserMode::,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruserMode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuserMode::erMode::ModeuuserMode:serMuserMode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rModuserModeuseruserMode:Mode::e:seuserMode:rModeuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
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rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uuserModeuserMode::suserMode:useruserModuseruserMode:Mode:euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserMode:serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:erMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::ode:erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususerMode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:me useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::seuserMode:rMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userMode:userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// 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userMode:rt->userModeuserMode::userMode:timuserMode:userMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususerMode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMode:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:ode:Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserususerModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuseruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuserMode:rMode::tiuserMode:me 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57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*ususerMode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserModeuserMode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuserMode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuserMode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususerMode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruserMode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuserMode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->userModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruseuserMode:rMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserModuserMode:e:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 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rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:userMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserModuserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:userMode:serMuserMode:ouseruserMode:Mode:duserMode:ususerMode:erMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruserMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserModuserMode:e:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userMouserMode:deuseuserMode:useruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeususerMode:erMode:rMode:erMode:seruserMode:ModeuserMode::F[useuserMode:rMode:1], 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ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuseuserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euserMode:rususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserMode::,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserMode:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] 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tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuserMode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, 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rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- 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rususerMode:eruuserMuserModeuserMode::ode:userMode:serModeuseruserMode:Mode::ModuseuserModuseruserMode:Mode:e:rMode:e:t->xususerMode:erMode:[uususerMode:euserMode:rModuserMode:e:serMode:ususerMode:erMode:userMode:rt->xuserModuuserModuserMode:e:seuserMode:useuserMode:rModeuserModuseruserMode:Mode:e::rMuserMode:odeuserMode::e:eeuserMode:[0uuuserModeuserMode::serMususerMode:userMode:erMode:odeuserMode::uuserMode:serMode:uuserMode:seuserMode:rMode:seuserMode:ruserMuseuseruserMode:Mode:rMode:ode:MouserMode:duserModuserMode:e:euserModeuserMode::userMuserMode:useruserMode:ModuserMode:e:uuserMuserMode:ode:seuserMode:rMode::userModuuserMode:serMode:e:teruseruseruserMode:Mode:Mode:_org.cpp:	userMode:		userMode:			uuseuserMouserMode:de:rModeuserMode::suseruserMode:MouseruserMode:ModeuserMode::de:erMuserMode:ode:rt->xuserMode:eeuuserMode:serMode:useruserMode:Mode:[1], ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuserMode:erMode:rMuserMode:ode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserModeuseruserMode:Mode::ModeuserMode::MuserMode:ode:Mode:seuserMode:rMode:userMode:MouserMode:de:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuuseruserMode:Mode:serMode:seuserMode:rMuserMode:ode:odeuserMode::suserMode:erMouserMode:duserMode:e:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0useruseruserMode:Mode:ModuserMode:userMode:euserModuserModeuserMode::e::], 5userMode:7.3*rt-uuserMode:userMode:serMuserMode:e:ruserMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[useuserMode:ruserMode:Mode:userMode:2],ususerMode:erMode:useuserMouserModuserMode:e:duseruserMode:ModuserMode:e:ususerMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMuserMode:ode::erModuserMuseruserMode:Mode:ode:e:erMode:*rt-usuuserModeuseruserMode:Mode::serMode:eruserMuserMode:oduserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruseruserMode:Mode:t->q[0userMode:]userMode:useuseruserMode:Mode:userMode:rMuserMuserMode:ode:ode:, 57.3userModuserMode:e:*useruserMode:userMode:Mode:rt->q[userMode:useuserMode:userModeuserMode::userMode:rMode:1]userModeuserMode::, userMode:useruseruserMode:Mode:Mode:57ususerMuuserMode:serMode:ode:euserModuserModeuserMode::userMode:e:ruuserMode:serMode:Mode:.useruserMode:Mode:3*userMode:rt-uuuseuserMode:rMode:serMode:serMouserMode:de:uuseruseruserMode:Mode:Mode:ModeuserususerMode:erMode:useruseruserMode:Mode:MouserModuserMode:e:de:MuserModuserMode:e:ode::puseruserMode:Mode::		userMode:		userMode:57.3*userMode:rt->quseruserMode:Mode:[uuseuserMode:rMoususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserModeuseruserMode:Mode:::suserMuserMouserMouserMode:deuserMode::deuserMode::ode:erMuuserMode:serMouserModeuserMode::de:ode:3],uuserMode:serMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:ModeuserMode::q[4uuserMode:seruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erMouserMode:deuserMode::e:userMode:userMouserModuserMouserMode:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMouserMode:de:rMuseruserMode:Mode:userMode:ode:MoususerMode:erMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuseuserMode:rMode:seruserMode:ModeuserMode:uuserMode:serMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruuserMode:serMuserMode:oduserMode:e:Mode:[userMode:ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseuserMode:ruseruserMode:Mode:ususerModeuserModeuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:euserMode:rMode:odeuseruserMode:MuserMode:ode::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seuserMode:ruserMouserMode:de:Mode:quserMode:_deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:useuserMode:rMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMouserMode:de:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:userMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],userMode:useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:Mode:de:>q_desuuserMode:seruserMouserMode:duuserMode:serModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouserMode:de:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserMode::ode:seruserMode:Mode:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuserMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMode:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:userMode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuseuserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euserMode:rususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruserMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserMode::,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserModuserMode:e:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuserMode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususerMode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuserMode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)ususerMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
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rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuserMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, 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=userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serModeuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// 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rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:oduserMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususeruserMode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:useruserMode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMode:userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userMuserMode:oduserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:ususerMode:erMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouserMode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuserMode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*ususerMode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserModeuserMode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuserMode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuserMode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususerMode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruserMode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguserModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuseruserMode:Mode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruseuserMode:rMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserModuserMode:e:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMususerMode:erMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:ModeuserMode::serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususeruserMode:Mode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuuserMode:serMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:userMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserMode:Mode:ee[1userModeuseruseuserModuserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMode:ouseruserMode:Mode:duserMode:ususerMode:erMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserModuserMode:e:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userMouserMode:deuseuserMode:useruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeususerMode:erMode:rMode:erMode:seruserMode:ModeuserMode::F[useuserMode:rMode:1], 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userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userususerMode:euserMuserMode:oduserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserMode::userMouserMuserMode:ode:de:useuserMode:userMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususeuserMode:rMode:erMouserMode:de:euserModuseuserMode:rMode:e:userMode:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserModuserMode:e:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMuserMode:ode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMuserMode:ode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:usuuseuserMode:rMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serMouserMode:deuserModuserMode:useuuserMode:serMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserModeuserMode::ModuserMode:e:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::ususerMode:erModuserMode:euserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:userMode:odeuserMode::euserMode:rMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: 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57.3*rt->uuserMode:seruserMode:ModeuserMode::q[4uuserMode:seruserMode:Mode:]userMouserMode:deuserModuserMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erMouserMode:deuserMode::e:userMode:userMouserModuserMouserModuserMode:e:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMouserMode:de:rMuseruserMode:Mode:userMode:ode:MoususerMode:erMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuseuserMode:rMode:seruserMode:ModeuserMode:uuserMode:serMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruuserMode:serMuserMode:oduserMode:e:Mode:[userMode:ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseuserMode:ruseruserMode:Mode:ususerModeuserModeuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:euserMode:rMode:odeuseruserMode:MuserMode:ode::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seuserMode:ruserMouserMode:de:Mode:quserMode:_deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:useuserMode:rMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMouserMode:de:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:userMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:ode:t->q_duserModeuserMode::es[3],userMode:useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:ModuserMode:e:de:>q_desuuserMode:seruserMouserMode:duuserMode:serModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouserMode:de:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserMode::ode:seruserMode:Mode:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMode:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:userMode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeuseuserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModeuserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rMode:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouseruserMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euserMode:rususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserMode::,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserMode:Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserMode:userModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserModuserMode:e:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] 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tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuserMode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruserMode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuserMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:userMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMouserModeuserMode::de:useuserModeuserModuseruserMode:Mode:e::rMode:ususeuserMode:rMode:eruserususerModeuseruserMode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseususeruserMode:Mode:erMode:rMode::userMode:dususeruserModuserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususerMode:erEusuuserModeuserModeuseruserMode:Mode:::serMode:erMouserMode:deuserMode::xit !=usususeruserMode:Mode:erModeuserModeuserMode:::euseruserMode:Mode:ruseruserMode:Mode:MuserMode: rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uuserMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, 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=userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuserMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:userMode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuserMouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// 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rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserMode::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModeuserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:ModuserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:odususerMode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususeruserMode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:useruserMode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMode:userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userMuserMode:oduserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:ususerMode:erMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouserMode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuserMode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*ususerMode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserModeuserMode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuserMode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuserMode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususerMode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruserMode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserMode::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMode:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguseuserMode:rModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuseruserMode:Mode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruseuserMode:rMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserModuserMode:e:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMususerMode:erMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:ModeuserMode::serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususeruserMode:Mode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuuserMode:serMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguserMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:userMode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuserMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserModeuserMode::Mode:ee[1userModeuseruseuserModuserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMode:ouseruserMode:Mode:duserMode:ususerMode:erMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserModuserMode:e:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userMouserMode:deuseuserMode:useruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeususerMode:erMode:rMode:erMode:seruserMode:ModeuserMode::F[useuserMode:rMode:1], 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userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userususerMode:euserMuserMode:oduserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserModeuserMode:::userMouserMuserMode:ode:de:useuserMode:userMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususeuserMode:rMode:erMouserMode:de:euserModuseuserMode:rMode:e:userMode:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserModuserMode:e:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMuserMode:ode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMuserMode:ode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:usuuseuserMode:rMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serMouserMode:deuserModuserMode:useuuserMode:serMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserModeuserMode::ModuserMode:e:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::ususerMode:erModuserMode:euserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:userMode:odeuserMode::euserMode:rMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: 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ruserususerMode:euserMode:rMuserMode:ode:Mode:tuuseruserMode:Mode:erMode:rMuserMode:ode:ode::useruserMode:MouserMode:de:seruserMode:Mode:useuserMode:ruseruuseruseruseruserModeuseruserMode:Mode::ModeuserMode::MuserMode:ode:Mode:seuseuserMode:rMode:rMode:userMode:MouserMode:de:ModeuserMouserMode:de::57.useuserMode:ruserMode:Mode:uuserMode:uuserMode:seruserMuserMode:ode:MuuuseruserMode:Mode:serMode:seuserMode:rMuserMode:ode:odeuserMode::suserMode:erMouserMode:duserMode:e:3*rt-userMode:>jguserMode:userMode:useruserMode:MuserMode:oduserMode:e:userMode:ouserMode:al[0useruseruserMode:Mode:ModuserMode:userMode:euserModuserModeuserMode::e::], 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57.3*rt->uuserMode:seruserMode:ModeuserMode::q[4uuserMode:seruserMode:Mode:]userMouserMode:deuserModususerMode:erMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erMouserMode:deuserMode::e:userMode:userMouserModuserMouserModuserMode:e:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMouserMode:de:rMuseruserMode:Mode:userMode:ode:MoususerMode:erMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuseuserMode:rMode:seruserMode:ModeuserMode:uuserMode:serMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruuserMode:serMuserMode:oduserMode:e:Mode:[userMode:ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseuserMode:ruseruserMode:Mode:ususerModeuserModeuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:euserMode:rMode:odeuseruserMode:MuserMode:ode::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seuserMode:ruserMouserMode:de:Mode:quserMode:_deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:useuserMode:rMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMouserMode:de:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:e:userMode:useuserMode:userMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:oduserMode:e:t->q_duserModeuserMode::es[3],userMode:useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:ModuserMode:e:de:>q_desuuserMode:seruserMouserMode:duuserMode:serModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouserMode:de:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserMode::ode:seruserMode:Mode:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserMode:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMode:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:userMode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: 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userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euserMode:rususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserMode::,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserModeuserMode::Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserMode:userModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserModuserMode:e:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouserMode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuserMode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuserMode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuserMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:userMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMouserModeuserMode::de:useuserModeuserModuseruserMode:Mode:e::rMode:ususeuserMode:rMode:eruserususerModeuseruserMode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseususeruserMode:Mode:erMode:rMode::userMode:dususeruserModuserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususerMode:erEusuuserModeuserModeuseruserMode:Mode:::serMode:erMouserMode:deuserMode::xit !=usususeruserMode:Mode:erModeuserModeuserMode:::euseruserMode:Mode:ruseruserMode:Mode:MuserMode: 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uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, 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57.3*rt->uuserMode:seruserMode:ModeuserMode::q[4uuserMode:seruserMode:Mode:]userMouserMode:deuserModususerMode:erMuserMode:ode:e::userMode:uuserMode:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erMouserMode:deuserMode::e:userMode:userMouserModuserMouserModuserMode:e:de:e:de:userModeuseruserMode:Mode::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMouserMode:de:rMuseruserMode:Mode:userMode:ode:MoususerMode:erMode:duserususerMode:erMode:Mode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuseuserMode:rMode:seruserMode:ModeuserMode:uuserMode:serMode::userModuserModeuserMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:de:desuseruuserMode:serMuserMode:oduserMode:e:Mode:[userMode:ususerMode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMode:3*userMode:rt->quseuserMode:ruseruserMode:Mode:ususerModeuserModeuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userMode:de:duserMususerMode:euserMode:rMode:odeuseruserMode:MuserMode:ode::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rt->uuserModeuserMode::seuserMode:ruserMouserMode:de:Mode:quserMode:_deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModususerMode:erMode:e:useuserMode:rMode:userMode:useruuserModuseruseuserMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:userMode:Mode:userususerMouserMode:de:erMode:uuuserMode:sususerMode:erMode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:userMode:e:userMode:useuserMode:userMode:ruseruuseruserMode:Mode:seuserMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:oduserMode:e:t->q_duserModeuserMode::es[3],userMode:useruserMode:Mode: userMode:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:ModuserMode:e:de:>q_desuuserMode:seruserMouserMode:duuserMode:serModeuseruserMode:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouserMode:de:ouserMode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rt->duserMode:q[0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::e:q[userMode:1],useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMode::eruserMode:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserMode:euserMode::e:eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuserMode::ususerMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserMode::ode:seruserMode:Mode:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:odeuserMode::Mode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uuseruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMode:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserMode:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::de:userMode:usususerususerMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:Mode:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMode:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:ode:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:userMode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMode:ode: 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userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserMode::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuserMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:Mode:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euserMode:rususerModuseruserMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserMode:Mode:MouserMouserMode:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:des[0], rt-userMouserMode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:ModeuseruserMode:Mode::de::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerMode:erModeuseruserMuserMode:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMode:ModeuserMode:userMode::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserMode::,userMode:ususerMode:eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouserMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserModeuserMode::Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserMode:userModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserModuserMode:e:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuserMode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuserMode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuserMode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]userMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
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rt-userMode:userModeuseuserMode:rMuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, 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rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:ususerMode:erMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouserMode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuserMode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*ususerMode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserModeuserMode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuserMode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuserMode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususerMode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruserMode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]userMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserModeuserMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMouserMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguseuserMode:rModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuseruserMode:Mode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruseuserMode:rMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserModuserMode:e:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 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rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouuserMode:serMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserModeuserMode::Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserMode:userModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserModuserMode:e:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruserMode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruserMode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuserMode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:erModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:userMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMouserModeuserMode::de:useuserModeuserModuseruserMode:Mode:e::rMode:ususeuserMode:rMode:eruserususerModeuseruserMode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseususeruserMode:Mode:erMode:rMode::userMode:dususeruserModuserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususerMode:erEusuuserModeuserModeuseruserMode:Mode:::serMode:erMouserMode:deuserMode::xit !=usususeruserMode:Mode:erModeuserModeuserMode:::euseruserMode:Mode:ruseruserMode:Mode:MuserMode: rt-userMode:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:Mode:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::seuserMode:rMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuseruserMode:Mode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserModuserMode:e:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: ususerMode:erMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:useuserMode:rMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserModeuserMode:::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMuserMode:ouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuuserMode:serususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:userMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode:userMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususerMode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euserMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserMode:rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserMode:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMouserMode:de:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:odeuserMode::Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserusuuserMode:serModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuuserMode:seruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// 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rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserModeuserMode:::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModuserMode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:MuserMode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:odususerMode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususeruserMode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:useruserMode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMode:userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userMuserMode:oduserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:ususerMode:erMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouserMode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuserMode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*ususerMode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserModeuserMode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuserMode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuserMode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususerMode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruserMode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]useuserMode:rMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserModeuserMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMouserMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguseuserMode:rModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuseruserMode:Mode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruseuserMode:rMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserModuserMode:e:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMususerMode:erMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:ModeuserMode::serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususeruserMode:Mode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuuserMode:serMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:useruserMode:Mode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuuserMode:serMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserModeuserMode::Mode:ee[1userModeuseruseuserModuserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], 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rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMuserMode:ouserMode:de:erMode:F[2]ususerMode:erModeuserMode::useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMouserMode:de:e::userModeuserMuserMode:ouserMode:de::userMode:uuserModuserMode:e:seuseruserMode:MuseuserMode:userModuserMode:e:ruserMode:Mode:oduserMode:euserMode:dususerModeuserMode::erMode:eususerModeuserMode::eruserMode:Mode:userMode::ter_orguserModuserMode:e:userMode:.cpp:	userMode:	userMode:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:userMode:Mode:duserMode:e:rMuserMouserMouserMode:de:de:ode:	rtuserModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserMouserMode:deususerMode:erMuserMuuserMode:serMuserMode:ode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserModuserMode:e:goal[1]userModeuserMode::,rt-userMode:>xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oauserModeuserMode::luuserMode:serMuserModuserMode:e:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useususerMode:erModuuseruserMode:Mode:serMode:e:rMode:MuserMode:oususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserModeuserMode::userMuseuserModuseruserModeuserMode::ModeuserMode::e:rModeuserMode::ode:[userMode:userMode:userMode:1useruuserMode:serModuseruserMode:Mode:e:Mode:uuserModeuserMode::serMuserMode:oduserMode:euserModeuuseruserModeuserMode::Mode:serMouserMode:de:::], rt->x[2]uuseuserMode:rMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seuserMode:ruserMode:userMuserModuserMode:e:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:duserMode:e:euuserMode:serModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuseruserMode:Mode:userMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserModeuserMode::ode:euuserMode:serModeuserMode::rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:ModeuserMode::userModususerMode:userMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserModuserMode:e:e:userModuserMode:e:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:oususerMode:erMouseuserMode:rMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuseuserMode:rMode:userMode::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erModeuserMode::xeeuserMode:[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:oduseruserMode:Mode:e:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userusuuserMode:serMode:euserMuserMode:oduserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserModeuserMode:::userMouserMuserMode:ode:de:useuserMode:userMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususeuserMode:rMode:erMouserMode:de:euserModuseuserMode:rMode:e:userMode:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserModuserMode:e:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMuserMode:ode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMuserMode:ode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:usuuseuserMode:rMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serMouserMode:deuserModuserMode:useuuserMode:serMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserModeuserMode::ModuserMode:e:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::ususerMode:erModuserMode:euserMode::rMususerMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:userMode:odeuserMode::euserMode:rMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: 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rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouuserMode:serMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserModeuserMode::Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserMode:userModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserModuserMode:e:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususerMode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuserMode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruserMode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModeuserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:userMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMouserModeuserMode::de:useuserModeuserModuseruserMode:Mode:e::rMode:ususeuserMode:rMode:eruserususerModeuseruserMode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseususeruserMode:Mode:erMode:rMode::userMode:dususeruserModuserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususerMode:erEusuuserModeuserModeuseruserMode:Mode:::serMode:erMouserMode:deuserMode::xit !=usususeruserMode:Mode:erModeuserModeuserMode:::euseruserMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userMode:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:serMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::seuserMode:rMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserMode:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// 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rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserModeuserMode:::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModuserMode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:MuserMode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:odususerMode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususeruserMode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:useruserMode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMode:userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userMuserMode:oduserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:ususerMode:erMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouserMode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuserMode:rMode:erMode::l[0], 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rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserMode:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouserMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:useruserMode:Mode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuuserMode:serMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserModeuserMode::Mode:ee[1userModeuseruseuserModuserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], 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rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouuserMode:serMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserModeuserMode::Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserMode:userModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserModuserMode:e:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuserMode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuserMode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuserMode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruserMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:userMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMouserModeuserMode::de:useuserModeuserModuseruserMode:Mode:e::rMode:ususeuserMode:rMode:eruserususerModeuseruserMode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseususeruserMode:Mode:erMode:rMode::userMode:dususeruserModuserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususerMode:erEusuuserModeuserModeuseruserMode:Mode:::serMode:erMouserMode:deuserMode::xit !=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userMode:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuserMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::seuserMode:rMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouseruseuserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// 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rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:ususerMode:erMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouserMode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuserMode:rMode:erMode::l[0], 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rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouuserMode:serMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserModeuserMode::Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserMode:userModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserModuserMode:e:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuserMode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruserMode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuserMode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:erMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:userMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMouserModeuserMode::de:useuserModeuserModuseruserMode:Mode:e::rMode:ususeuserMode:rMode:eruserususerModeuseruserMode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseususeruserMode:Mode:erMode:rMode::userMode:dususeruserModuserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususerMode:erEusuuserModeuserModeuseruserMode:Mode:::serModuserMode:e:erMouserMode:deuserMode::xit !=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userMode:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuserMode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::seuserMode:rMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserMode:e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// 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rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:ususerMode:erMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouserMode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuserMode:rMode:erMode::l[0], 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rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouuserMode:serMode:ususerMode:erMode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserModeuserMode::Mode::					rt-useuserMode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserMode:userModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserModuserMode:e:userMode:e:l(rt->pid,0) == -1)
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuserMode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuserMode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuserMode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:duserMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:userMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMouserModeuserMode::de:useuserModeuserModuseruserMode:Mode:e::rMode:ususeuserMode:rMode:eruserususerModeuseruserMode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseususeruserMode:Mode:erMode:rMode::userMode:dususeruserModuserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususeuserMode:rMode:erEusuuserModeuserModeuseruserMode:Mode:::serModuserMode:e:erMouserMode:deuserMode::xit !=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: 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uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::euserMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::seuserMode:rMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:Mode:uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:duserMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuseruserMode:Mode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserModuserMode:e:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: ususerMode:erMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:useuserMode:rMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserModeuserMode:::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMuserMode:ouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuuserMode:serususeususerMode:erMode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:userMode:MuserMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode:userMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususerMode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserModuseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:userMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserModuserMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMouserMode:de:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:odeuserMode::Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserusuuserMode:serModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuuserMode:seruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuseruserMode:Mode:rMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:userMuserMode:ode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:seruserMode:Mode:e euuserMuserMode:oduserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserModeuserMode::rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unt iuserMode:ususerMode:uuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouseuseruserModuserMode:e:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:de:suserModuseuserMode:ruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:useuserMode:rMouserMode:de::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerMode:erMode:de:useuserMode:rMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::opuserMode: couuserMode:ususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuserMode:tuseuseruserMode:Mode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:serModuserMode:e:userMode:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruserMode:Mode::eruserMode:Mode:om userMouserMode:de:userMode:rt-userMode:>time, (tuuseruserMode:ModuserMode:e:seruseuserMode:rMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruserMode:Mode:uuuserMode:serMode:userMode:serModuserModeuserMode::euserModeuseuseruseuserMouserMode:de:rModuserMode:e:Mode:ruserMode:uuseuseruserMode:ModuserMode:e:userMode:ruserMode:MouserMuserMode:ode:de:e:odeuserMuserModeuserModeuserMode:::ode::ruserMode:t->timeuserModuserMode:e:userMouserMode:deuserMode::useuserModuserMode:e:userMode:userMode:ruserModuserMode:e:Mode:userModuserModeuserMode::euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseususerMode:eruserMode:MouserMode:duserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erModeuserMode::seruserMode:MouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::useruserMode:Mode:de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:ModuserMode:e:useuserMode:rMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuseuserMode:rMode:e:useuseuserMode:rMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMususerMode:erModeuserMode::ode:rMouserMode:de:seruserModeuserMode::_modeuserMuserMode:useuserMode:rususerMode:erMode:ModuserMuserMode:ode:e:oduserMode:ususerMode:eususerMode:euserMode:rMode:rMoususerMuserMode:ode:erMode:de:e:useuserMuserMode:odeuseususerMode:erMode:rMode:uuserMode:serModuseruserModuserMode:e:Mode:e::rMode:)userMode:userusuuserMode:serMode:userMode:erMode:Mode:ususerMode:erMuseruuserMode:serMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:ususerMode:erMode:MouserMuserModeuserMode::ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserModeuserMode:::rMouserModeuserMode::userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserModeuserMode::useuserMode:rMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouseruserMode:Mode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserModuserMode:e:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useuseususerMode:eruserMode:userMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserMode:serMode:seruseruserMouserMode:de:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:userMode:uuserMode:suserMode:userModuserMuserMode:ode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:oususerMode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:MuserMode:ode:t-userMuserMode:ode:>xuserMoususeuserMode:rMode:erModeuseruserMode:Mode::duserMode:e:[1ususeuserMode:rMode:erMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserModeuserMode:::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModuserMode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:MuserMode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:odususerMode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususeruserMode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:useruserMode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMode:userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userMuserMode:oduserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:ususerMode:erMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouserMode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuserMode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*ususerMode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserModeuserMode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuserMode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuserMode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususeruserMode:Mode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruseruserMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MuserMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]useuserMode:rMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserModeuserMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMouserMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguseuserMode:rModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuseruserMode:Mode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruseuserMode:rMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserModuserMode:e:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMususerMode:erMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:ModeuserMode::serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususeruserMode:Mode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuuserMode:serMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuseuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::serMouserMode:de:],rt->x_des[2userMode:])userMode:;userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:useruserMode:Mode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuuserMode:serMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserModeuserMode::Mode:ee[1userModeuseruseuserModuserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMode:ouseruserMode:Mode:duserMode:ususerMode:erMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserModuserMode:e:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userMouserMode:deuseuserMode:useruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeususerMode:erMode:rMode:erMode:seruserMode:ModeuserMode::F[useuserMode:rMode:1], rt-useuserMode:rMode:>ususeuseruserMode:Mode:rMuserMode:ouserMode:de:erMode:F[2]ususerMode:erModeuserMode::useruserModeuserMode::MouseuserMode:rMode:de:userModeuserModuserMouserMode:de:e::userModeuserMuserMode:oususerMode:erMode:de::userMode:uuserModuserMode:e:seuseruserMode:MuseuserMode:userModuserMode:e:ruserMode:Mode:oduserMode:euserMode:dusususerMode:erModeuserMode::erMode:eususerModeuserMode::eruserMode:Mode:userMode::ter_orguserModuserMode:e:userMode:.cpp:	userMode:	userMouserMode:de:			uuserMode:seuserususerMode:erMode:Mode:userMouseruserMode:userMode:Mode:duserMode:e:rMuserMouserMouserMode:de:de:ode:	rtuserMode:userModeusuuserMode:serMode:eruserMode:Mode::->useruserMode:Mode:uuserMode:suserMouserMode:deususerMode:erMuserMuuserMode:serMuserMode:ode:oususerMode:erMode:duseuserModeuseuserMode:rMode::rMode:e:ouserMode:de::eruserMode:Mode:xuserModuserMode:e:goal[1]userModeuserMode::,rt-userMode:>xuseuserMode:rMode:userModeususerModeuserMode::erModuserModuserMode:e:userMode:e::guserModuserMode:e:oauserModeuserMode::luuserMode:serMuserModuserMode:e:oduseuserMode:rMode:e:[2])userModeuserMode:rt->useruserMouserMouserMode:de:duserMode:e:useususerMode:erModuuseruserMode:Mode:serMode:e:rMode:MuserMode:oususerMode:erModuserMode:e:duserModeuserMouserMode:de::euserMode::xuserModeuserMode::userMuseuserModuseruserModeuserMode::ModeuserMode::e:rModeuserMode::ode:[userMode:userMode:userMode:1useruuserMode:serModuseruserMode:Mode:e:Mode:uuserModeuserMode::serMuserMode:oduserMode:euserModeuuseruserModeuserMode::Mode:serMouserMode:de:::], rt->x[2]uuseuserMode:rMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seuserMode:ruserMode:userMuserModuserMode:e:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:duserMode:e:euuserMode:serModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuseruserMode:Mode:userMode:ode:Mode:userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserModeuserMode::ode:euuserMode:serModeuserMode::rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:ModeuserMode::userModususerMode:useuserMode:rMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserModuserMode:e:e:userModuserMode:e:userMode:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:oususerMode:erMouseuserMode:rMode:userMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuseuserMode:rMode:userModuserMode:e::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erModeuserMode::xeeuserMode:[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:oduseruserMode:Mode:e:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userusuuserMode:serMode:euserMuserMode:oduserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserModeuserMode:::userMouserMuserMode:ode:de:useuserMode:userMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususeuserMode:rMode:erMouserMode:de:euserModuseuserMode:rMode:e:userMode:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserModuserMode:e:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMuserMode:ode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMuserMode:ode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:usuuseuserMode:rMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serMouserMode:deuserModuserMode:useuuserMode:serMode:rMuserMode:ode:e::teruuserMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserModeuserMode::ModuserMode:e:Mode:cpp:					rt->fuseuseuseruserMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::ususerMode:erModuserMode:euserMode::rMusususerMode:erMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:userMode:odeuserMode::euserModeuserMode::rMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: 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userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserMode:userModuserMode:userModuserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruserMode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuserMode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruserMode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserMode:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:userMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMouserModeuserMode::de:useuserModeuserModuseruserMode:Mode:e::rMode:ususeuserMode:rMode:eruserususerModeuseruserMode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseususeruserMode:Mode:erMode:rMode::userMode:dususeruserModuserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:userMode:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususeuserMode:rMode:erEusuuserModeuserModeuseruserMode:Mode:::serModuserMode:e:erMouserMode:deuserMode::xit !=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userMode:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruseruserModuserMode:euserMode::MouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::seuserMode:rMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] 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rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserModeuserMode:::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModuserMode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:MuserMode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:odususerMode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususeruserMode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:useruserMode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMode:userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userMuserMode:oduserMode:e:1], 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userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,userModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuserMode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuserMode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruserMode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruserMode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMode:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:userMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMouserModeuserMode::de:useuserModeuserModuseruserMode:Mode:e::rMode:ususeuserMode:rMode:eruserususerModeuseruserMode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseususeruserMode:Mode:erMode:rMode::userMode:dususeruserMuserMode:oduserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:userMode:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususeuserMode:rMode:erEusuuserModeuserModeuseruserMode:Mode:::serModuserMode:e:erMouserMode:deuserMode::xit !=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userMode:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::seuserMode:rMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:erModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// 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userMode:rt->userModeuserMode::userMode:timuserMode:userMode::suserModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:userMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserModuserMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == 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(tuuseruserMouserMode:de:ModuserMode:e:seruseuserMode:rMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruuserMode:serMode:Mode:uuuserMode:serMode:userMode:serModuserModeuserMode::euserModeuseuseruseuserMouserMode:de:rModuserMode:e:Mode:ruserMode:uuseuseruserMode:ModuserMode:e:userMode:ruserMode:MouserMuserMode:ode:de:e:odeuserMuserModeuserModeuserMode:::ode::ruserMode:t->timeuserModuserMode:e:userMouserMode:deuserMode::useuserModuserMode:e:userMode:userMode:ruserModuserMode:e:Mode:userModuserModeuserMode::euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseususerMode:eruserMode:MouserMode:duserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erModeuserMode::seruserMode:MouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::useruserMode:Mode:de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:ModuserMode:e:useuserMode:rMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuseuserMode:rMode:e:useuseuserMode:rMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMususerMode:erModeuserMode::ode:rMouserMode:de:seruserModeuserMode::_modeuserMuserMode:useuserMode:rususerMode:erMode:ModuserMuserMode:ode:e:oduserMode:ususerMode:eususerMode:euserMode:rMode:rMoususerMuserMode:ode:erMode:de:e:useuserMuserMode:odeuseususerMode:erMode:rMode:uuserMode:serModuseruserModuserMode:e:Mode:e::rMode:)userMode:userusuuserMode:serMode:userMode:erMode:Mode:ususerMode:erMuseruuserMode:serMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:ususerMode:erMode:MouserMuserModeuserMode::ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserModeuserMode:::rMouserModeuserMode::userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erModuserModeuserMode::useuserMode:rMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:userMode:erMode:e:rMouseruserMode:Mode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruserMode:Mode:useuserModuserMode:e:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useususerMode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserModuserMode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:userMode:uuserMode:suserMode:userModuserMuserMode:ode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:oususerMode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:MuserMode:ode:t-userMuserMode:ode:>xuserMoususeuserMode:rMode:erModeuseruserMode:Mode::duserMode:e:[1ususeuserMode:rMode:erMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserModeuserMode:::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModuserMode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:MuserMode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:odususerMode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususeruserMode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:useruserMode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMode:userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userMuserMode:oduserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:ususerMode:erMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouserMode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuserMode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*ususerMode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserModeuserMode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuseruserMode:Mode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuseruserMode:Mode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususeruserMode:Mode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruseruserMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MuserMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]useuserMode:rMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserModeuserMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMouserMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguseuserMode:rModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuseruserMode:Mode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruseuserMode:rMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserMode:Mode:userMode:useruserMode:Mode:userMouseruserModuserMode:e:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMususerMode:erMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:Mode:*rt-userModeuserMode:userModuseruserMode:ModeuserMode::serususerMode:erMode:Mode:userModeuserMode:::de:		userMuserMode:ode:			rt->x_duserMode:esuseuseuserMoususeruserMode:Mode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserMode:e:rMuuserMode:serMode:ode::rModuuserMode:serModuuserMode:serMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuuserMode:seuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2userMode:])userMode:;userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:useruserMode:Mode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuuserMode:serMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserModeuserMode::Mode:ee[1userModeuseruseuserModuserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMode:ouseruserMode:Mode:duserMode:ususerMode:erMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserModuserMode:e:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuuserMode:seruserMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userMouserMode:deuseuserMode:useruserMouserMode:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeususerMode:erMode:rMode:erMode:seruserModeuserMode::ModeuserMode::F[useuserMode:rMode:1], 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rt->x[2]uuseuserMode:rMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seuserMode:ruserMode:userMuserModuserMode:e:oduserMode:e:MuserMode:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:duserMode:e:euuserMode:serModuserMode:e:rMouserModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuseruserMode:Mode:userMode:ode:ModeuserMode::userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserModeuserMode::ode:euuserMode:serModuserMode:euserMode::rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:ModeuserMode::userModususerMode:useuserMode:rMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserModuserMode:e:e:userModuserMode:e:userMode:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:oususerMode:erMouseuserMode:rMode:userMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuseuserMode:rMode:userModuserMode:e::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erModeuserMode::xeeuserMode:[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:oduseruserMode:Mode:e:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userusuuserMode:serMode:euserMuserMode:oduserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserModeuserMode:::userMouserMuserMode:ode:de:useuserMode:userMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususeuserMode:rMode:erMouserMode:de:euserModuseuserMode:rMode:e:userMode:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserModuserMode:e:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMuserMode:ode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMuserMode:ode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:usuuseuserMode:rMode:iuserModeuserMode::nuuserModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serMouserMode:deuserModuserMode:useuuserMode:serMode:rMuserMode:ode:e::teruuuserMode:serMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserModeuserMode::ModuserMode:e:Mode:cpp:					rt->fuseuseuseruserMode:userMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::ususerMode:erModuserMode:euserMode::rMusususerMode:erMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:userMode:odeuserMode::euserModeuserMode::rMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: 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userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuserMode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserMode:Mode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuserMode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuserMode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouserMode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruserMode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuserMode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:userMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMouserModeuserMode::de:useuserModeuserModuseruserMode:Mode:e::rMode:ususeuserMode:rMode:eruserususerModeuseruserMode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseuuserMode:suseruserMode:Mode:erMode:rMode::userMode:dususeruserMuserMode:oduserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:userMode:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususeuserMode:rMode:erEusuuserModeuserModeuseruserMode:Mode:::serModuserMode:e:erMouserMode:deuserMode::xit !=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userMode:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserMode:rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::seuserMode:rMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususerMode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:eruserMode:ModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// 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rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:ususerMode:erMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouserMode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuserMode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*ususerMode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserModeuseruserMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuseruserMode:Mode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuseruserMode:Mode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususeruserMode:Mode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruseruserMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MuserMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]useuserMode:rMode:,userMode: 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rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:useruserMode:Mode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuuserMode:serMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserModeuserMode::Mode:ee[1userModeuseruseuserModuserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], 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userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userusuuserMode:serMode:euserMuserMode:oduserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserModeuserMode:::userMouserMuserMode:ode:de:useuserMode:userMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususeuserMode:rMode:erMouserMode:de:euserModuseuserMode:rMode:e:userMode:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserModuserMode:e:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMuserMode:ode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMuserMode:ode:seruserMode:userMode:ModeuserMode::userModuserMode:e:useuserMode:rMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:usuuseuserMode:rMode:iuserModeuserMode::nuuseruserMode:ModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serMouserMode:deuserModuserMode:useuuserMode:serMode:rMuserMode:ode:e::teruuuserMode:serMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserModeuserMode::ModuserMode:e:Mode:cpp:					rt->fuseuseuseruserMode:userMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::ususerMode:erModuserMode:euserMode::rMusususerMode:erMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:userMode:odeuserMode::euserModeuserMode::rMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: 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userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuserMode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserMode:Mode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserMode:Mode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:ruseruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuserMode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::userMode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruserMode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::odeuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:userMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMouserModeuserMode::de:useuserModeuserModuseruserMode:Mode:e::rMode:ususeuserMode:rMode:eruserususerModeuseruseruserMode:Mode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseuuserMode:suseruserMode:Mode:erMode:rMode::userMode:dususeruserMuserMode:oduserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:userMode:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususeuserMode:rMode:erEusuuserModeuserModeuseruserMode:Mode:::serModuserMode:e:erMouserMode:deuserMode::xit !=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userMode:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:ode::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::seuserMode:rMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euserMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususeruserMode:Mode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:eruserMode:ModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// 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rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserModeuserMode:::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModuserMode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:MuserMode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:odususerMode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususeruserMode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:useruserMode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMode:userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userMuserMode:oduserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:ususerMode:erMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouserMode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuserMode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*ususeruserMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserModeuseruserMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuseruserMode:Mode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuseruserMode:Mode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususeruserMode:Mode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruseruserMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MuserMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]useuserMode:rMode:,userMode: 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rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:useruserMode:Mode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuuserMode:serMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserModeuserMode::Mode:ee[1userModeuseruseuserModuserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMode:ouseruserMode:Mode:duserMode:ususerMode:erMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserModuserMode:e:e:serMouserMode:de:userMode:de:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuuserMode:serususerMode:erMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userMouserMode:deuseuserMode:useruserMouserModuserMode:e:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeususerMode:erMode:rMode:erMode:seruserModeuserMode::ModeuserMode::F[useuserMode:rMode:1], 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rt->x[2]uuseuserMode:rMouserMode:de:serMode:useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seuserMode:ruserMode:userMuserModuserMode:e:oduserMode:e:MuserMouserMode:de:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:duserMode:e:euuserMode:serModuserMode:e:rMoususerMode:erModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuseruserMode:Mode:userMode:ode:ModeuserMode::userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserModeuserMode::ode:euuserMode:serModuserMode:euserMode::rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:ModeuserMode::userModususerMode:useuserMode:rMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserModuserMode:e:e:userModuserMode:e:userMode:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:oususerMode:erMouseuserMode:rMode:userMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuseuserMode:rMode:userModuserMode:e::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erModeuserMode::xeeuserMode:[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:oduseruserMode:Mode:e:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userusuuserMode:serMode:euserMuserMode:oduserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserModeuserMode:::userMouserMuserMode:ode:de:useuserMode:userMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususeuserMode:rMode:erMouserMode:de:euserModuseuserMode:rMode:e:userMode:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserModuserMode:e:rMode:],uuserModeuserMuseruserMode:Mode:ode::suserMode:erMode:serMuserMode:ode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMuserMode:ode:seruserMode:userMode:ModeususerMode:erMode::userModuserMode:e:useuserMode:rMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:usuuseuserMode:rMode:iuserModeuserMode::nuuseruserMode:ModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serMouserMode:deuserModuserMode:useuuserMode:serMode:rMuserMode:ode:e::teruuuserMode:serMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserModeuserMode::ModuserMode:e:Mode:cpp:					rt->fuseuseuseruserMode:userMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::ususerMode:erModuserMode:euserMode::rMusususerMode:erMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:userMode:odeuserMode::euserModeuserMode::rMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: 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userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t 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useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserMode:Mode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserMode:Mode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserMode:Mode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:Mode:Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouserMode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruserMode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruserMode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:userMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:userMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMouserModeuserMode::de:useuserModeuserModuseruserMode:ModeuserMode::e::rMode:ususeuserMode:rMode:eruserususerModeuseruseruserMode:Mode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseuuserMode:suseruserMode:Mode:erMode:rMode::userMode:dususeruserMuserMode:oduserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:userMode:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususeuserMode:rMode:erEusuuserModeuserModeuseruserMode:Mode:::serModuserMode:e:erMouserMode:deuserMode::xit !=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userMode:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMode:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::seuserMode:rMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususeruserMode:Mode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:eruserMode:ModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuseruserMode:Mode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserModuserMode:e:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: ususerMode:erMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:useuserMode:rMouserMode:de:rMode:oduserMode:e:userMode:seuserMode:rvuserModeuserModeuserMode:::o louserMode:userMode:ouserModuserMode:e:p userMode:cuserMode:ounuserMuserMode:ouserMode:de:t userMuseruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuuserMode:serususeususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode:userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:userMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserModuserMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMouserMode:de:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:odeuserMode::Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserusuuserMode:serModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuuserMode:seruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuseruserMode:Mode:rMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:userMuserMode:ode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:seruserMode:Mode:e euuserMuserMode:oduserMode:e:seuserMode:ruserMode:Mode:rt->honduseuserModeuserMode::rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unt 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(tuuseruserMouserMode:de:ModuserMode:e:seruseuserMode:rMode:Mode:imuuserMode:serMode:e4userMode:-tuseuserMode:ruuserMode:serMode:Mode:uuuserMode:serMode:userMode:serModuserModeuserMode::euserModeuseuseruseuserMouserMode:de:rModuserMode:e:Mode:ruserMode:uuseuseruserMode:ModuserMode:e:userMode:ruserMode:MouserMuserMode:ode:de:e:odeuserMuserModeuserModeuserMode:::ode::ruserMode:t->timeuserModuserMode:e:userMouserMode:deuserMode::useuserModuserMode:e:userMode:userMode:ruserModuserMode:e:Mode:userModuserModeuserMode::euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseususerMode:eruserMode:MouserMode:duserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserMode:e:erModeuserMode::seruserMode:MouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euseuserMode:rMode:::useruserMode:Mode:de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:ode:useuseruserMode:ModuserMode:e:useuserMode:rMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMode:Mode:rMode:serModuseuserMode:rMode:e:useuseuserMode:rMode:rMode:tuuserMode:serMuserMode:ode:ch(rt-userMode:>uuseuserMususerMode:erModeuserMode::ode:rMouserMode:de:seruserModeuserMode::_modeuserMuserMode:useuserMode:rususerMode:erMode:ModuserMuserMode:ode:e:oduserMode:ususerMode:eususerMode:euserMode:rMode:rMoususerMuserMode:ode:erMode:de:e:useuserMuserMode:odeuseususerMode:erMode:rMode:uuserMode:serModuseruserModuserMode:e:Mode:e::rMode:)userMode:userusuuserMode:serMode:userMode:erMode:Mode:ususerMode:erMuseruuserMode:serMode:ModuserMode:e:odeuserMode::useruseuserMode:rMode:ususerMode:erMode:MouserMuserModeuserMode::ode:duserModuserMode:e:e:useuserMode:rMode:",rt-useuserModeuserModeuserMode:::rMouserModeuserMode::userMode:de:>x[0uuserMode:suserModuseruserModeuserMode::Mode:e:erMuserMode:oduserModeuserMode::useuserMode:rMode:euseuserMode:rMode::useuserMuserMode:odususeuserMode:rMode:ususerMode:erMode:erMode:e:rMouseruserMode:Mode:de:useruseuseruserMode:Mode:rMode:MuseuserMode:rMode:ode:useruuserMode:serMode:Mode:useuserModuserMode:e:rMouserMode:de:userModuseruserMode:Mode:userMode:e:userMode:useususerMode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserMode:rMode:rMode:oruserMode:guserMode:.cuuuserModuserMode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MouseruserMode:ModuseuserModeuserMode::rMode:e:de:userMode:uuserMode:suserMode:userModuserMuserMode:ode:e:erMode:puuserModeuserMode::suserMode:erMuserMode:oususerMode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:MuserMode:ode:t-userMuserMode:ode:>xuserMoususeuserMode:rMode:erModeuseruserMode:Mode::duserMode:e:[1ususeuserMode:rMode:erMuserMode:ode:uuserMode:serModeuuserMode:serModuserMode:e::], rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserModeuserMode:::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModuserMode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:MuserMode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:odususerMode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususeruserMode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:useruserMode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMode:userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userMuserMode:oduserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:ususerMode:erMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouserMode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuseruserMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*ususeruserMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserModeuseruserMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuseruserMode:Mode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuseruserMode:Mode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususeruserMode:Mode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruseruserMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MuserMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]useuserMode:rMode:,userMode: 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5userMode:7.3uuseruserMode:Mode:suserMususerMode:erMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:userMode:Mode:*rt-userModeuserMode:userModuseruserMode:ModeuserMode::serususerMode:erMode:Mode:userModeuserMode:::de:		userMususerMode:erMode:ode:			rt->x_duserMode:esuseuseuserMoususeruserMode:Mode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserModuserMode:e:e:rMuuserMode:serMode:ode::rModuuserMode:serModuuserMode:serMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuuserMode:seuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2userMode:])userMode:;userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:useruserMode:Mode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuuserMode:serMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserModeuserMode::Mode:ee[1userModeuseruseuserModuserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMode:ouseruserMode:Mode:duserMode:ususerMode:erMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMode:rt->ususerMode:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserModuserMode:e:e:serMouserMode:de:userMode:duserMode:e:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuuserMode:serususerMode:erMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userMouserMode:deuseuserMode:useruserMouserModuserMode:e:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeususerMode:erMode:rMode:erMode:seruserModeuserMode::ModeuserMode::F[useuserMode:rMode:1], 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rt->x[2]uuseuserMode:rMouserMode:de:serModeuserMode::useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seuserMode:ruserMode:userMuserModuserMode:e:oduserMode:e:MuserMouserMode:de:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:duserMode:e:euuserMode:serModuserMode:e:rMoususerMode:erModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuseruserMode:Mode:userMode:ode:ModeuserMode::userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserModeuserMode::ode:euuserMode:serModuserMode:euserMode::rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:ModeuserMode::userModususerMode:useuserMode:rMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserModuserMode:e:e:userModuserMode:e:userMode:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:oususerMode:erMouseuserMode:rMode:userMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuseuserMode:rMode:userModuserMode:e::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erModeuserMode::xeeuserMode:[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:oduseruserMode:Mode:e:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userusuuserMode:serMode:euserMuserMode:oduserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserModeuserMode:::userMouserMuserMode:ode:de:useuserMode:userMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususeuserMode:rMode:erMouserMode:de:euserModuseuserMode:rMode:e:userMode:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserModuserMode:e:rMode:],uuserModeuserMuseruseuserMode:rMode:Mode:ode::suserMode:erMode:serMuserMode:ode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMuserMode:ode:seruserMode:userMode:ModeususerMode:erMode::userModuserMode:e:useuserMode:rMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:usuuseuserMode:rMode:iuserModeuserMode::nuuseruserMode:ModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serMouserMode:deuserModuserMode:useuuserMode:serMode:rMuserMode:ode:e::teruuuserMode:serMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserModeuserMode::ModuserMode:e:Mode:cpp:					rt->fuseuseuseruserMode:userMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::ususerMode:erModuserMode:euserMode::rMusususerMode:erMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:userMode:odeuserMode::euserModeuserMode::rMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: 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userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserMode:Mode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserMode:Mode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserMode:Mode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruserMode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruserMode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuserMode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruserMode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMode:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:userMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMoususerMode:erModeuserMode::de:useuserModeuserModuseruserMode:ModeuserMode::e::rMode:ususeuserMode:rMode:eruserususerModeuseruseruserMode:Mode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseuuserMode:suseruserMode:Mode:erMode:rMode::userMode:dususeruserMuserMode:oduserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:userMode:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususeuserMode:rMode:erEusuuserModeuserModeuseruserMode:Mode:::serModuserMode:e:erMouserMode:deuserMode::xit !=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userMode:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeuserModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::seuserMode:rMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserMode:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususeruserMode:Mode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:eruserMode:ModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// 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rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserModeuserMode:::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModuserMode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:MuserMode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:odususerMode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususeruserMode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:useruserMode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMode:userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userMuserMode:oduserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:ususerMode:erMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouseruserMode:Mode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuseruserMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*ususeruserMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserModeuseruserMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuseruserMode:Mode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuseruserMode:Mode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususeruserMode:Mode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruseruserMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MuserMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]useuserMode:rMode:,userMode: 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5userMode:7.3uuseruserMode:Mode:suserMususerMode:erMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:userMode:Mode:*rt-userModeuserMode:userModuseruserMode:ModeuserMode::serususerMode:erMode:Mode:userModeuserMode:::de:		userMususerMode:erMode:ode:			rt->x_duserMode:esuseuseuserMoususeruserMode:Mode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserModuserMode:e:e:rMuuserMode:serMode:ode::rModuuserMode:serModuuserMode:serMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuuserMode:seuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2userMode:])userMode:;userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:serMode:], 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ruuserMode:useuserMode:rMode:serMuserMode:ouseruserMode:Mode:duserMode:ususerMode:erMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rModeuserMode::userMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMode:rt->ususerMouserMode:de:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserModuserMode:e:e:serMouserMode:de:userMode:duserMode:e:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuuserMode:serususerMode:erMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userMouserMode:deuseuserMode:useruserMouserModuserMode:e:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeususerMode:erMode:rMode:erMode:seruserModeuserMode::ModeuserMode::F[useuserMode:rMode:1], 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rt->x[2]uuseuserMode:rMouserMode:de:serModeuserMode::useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seuserMode:ruserMode:userMuserModuserMode:e:oduserMode:e:MuserMouserMode:de:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:duserMode:e:euuserMode:serModuserMode:e:rMoususerMode:erModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuseruserMode:Mode:userMode:ode:ModeuserMode::userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserModeuserMode::ode:euuserMode:serModuserMode:euserMode::rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:ModeuserMode::userModususerMode:useuserMode:rMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserModuserMode:e:e:userModuserMode:e:userMode:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:oususerMode:erMouseuserMode:rMode:userMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuseuserMode:rMode:userModuserMode:e::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erModeuserMode::xeeuserMode:[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:oduseruserMode:Mode:e:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userusuuserMode:serMode:euserMuserMode:oduserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserModeuserMode:::userMouserMuserMode:ode:de:useuserMode:userMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususeuserMode:rMode:erMouserMode:de:euserModuuserMode:seuserMode:rMode:e:userMode:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserModuserMode:e:rMode:],uuserModeuserMuseruseuserMode:rMode:Mode:ode::suserMode:erMode:serMuserMode:ode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMuserMode:ode:seruserMode:userMode:ModeususerMode:erMode::userModuserMode:e:useuserMode:rMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:usuuseuserMode:rMode:iuserModeuserMode::nuuseruserMode:ModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serMouserMode:deuserModuserMode:useuuserMode:serMode:rMuserMode:ode:e::teruuuserMode:serMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserModeuserMode::ModuserMode:e:Mode:cpp:					rt->fuseuseuseruserMode:userMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::ususerMode:erModuserMode:euserMode::rMusususerMode:erMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:userMode:odeuserMode::euserModeuserMode::rMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: 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userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t 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useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserMode:Mode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserMode:Mode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserMode:Mode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserMode:Mode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuserMode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuserMode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruserMode:Mode:.cpp:			rt->userMouseruseruserMode:Mode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMode:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:useuserMode:rMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMoususerMode:erModeuserMode::de:useuserModeuserModuseruserMode:ModeuserMode::e::rMode:ususeuserMode:rMode:eruserususerModeuseruseruserMode:Mode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseuuserMode:suseruserMode:Mode:erMode:rMode::userMode:dususeruserMuserMode:oduserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:userMode:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususeuserMode:rMode:erEusuuserModeuserModeuseruserMode:Mode:::serModuserMode:e:erMouserMode:deuserMode::xit !=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userMode:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuserMode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::seuserMode:rMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuserMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserMode:rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModeuserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususeruserMode:Mode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:eruserMode:ModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// 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rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserModeuserMode:::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModuserMode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:MuserMode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:odususerMode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususeruserMode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:useruserMode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMode:userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userMuserMode:oduserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:ususeruserMode:Mode:erMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouseruserMode:Mode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuseruserMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*ususeruserMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserModeuseruserMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuseruserMode:Mode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuseruserMode:Mode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususeruserMode:Mode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruseruserMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MuserMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]useuserMode:rMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserModeuserMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMouserMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguseuserMode:rModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuseruserMode:Mode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:useuuserModuseruserMode:Mode:e:userMode:serModususeruseuserMode:rMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMouseruserModuserMode:e:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 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rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:useruserMode:Mode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuuserMode:serMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserModeuserMode::Mode:ee[1userModeuseruseuserModuserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMode:ouseruserMode:Mode:duserMode:ususerMode:erMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:rMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMode:rt->ususerMouserMode:de:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserModuserMode:e:e:serMouserMode:de:userMode:duserMode:e:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuuserMode:serususerMode:erMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userMouserMode:deuseuserMode:useruserMouserModuserMode:e:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeususerMode:erMode:rMode:erMode:seruserModeuserMode::ModeuserMode::F[useuserMode:rMode:1], 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rt->x[2]uuseuserMode:rMouserMode:de:serModeuserMode::useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seuserMode:ruserMode:userMuserModuserMode:e:oduserMode:e:MuserMouserMode:de:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:duserMode:e:euuserMode:serModuserMode:e:rMoususerMode:erModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuseruserMode:Mode:userMode:ode:ModeuserMode::userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserModeuserMode::ode:euuserMode:serModuserMode:euserMode::rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:ModeuserMode::userModususerMode:useuserMode:rMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserModuserMode:e:e:userModuserMode:e:userMode:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:oususerMode:erMouseuserMode:rMode:userMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuseuserMode:rMode:userModuserMode:e::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erModeuserMode::xeeuserMode:[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:oduseruserMode:Mode:e:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userusuuserMode:serMode:euserMuserMode:oduserMode:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserModeuserMode:::userMouserMuserMode:ode:de:ususerMode:euserMode:userMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususeuserMode:rMode:erMouserMode:de:euserModuuserMode:seuserMode:rMode:e:userMode:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserModuserMode:e:rMode:],uuserModeuserMuseruseuserMode:rMode:Mode:ode::suserMode:erMode:serMuserMode:ode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMuserMode:ode:seruserMode:userMode:ModeususerMode:erMode::userModuserMode:e:useuserMode:rMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:usuuseuserMode:rMode:iuserModeuserMode::nuuseruserMode:ModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serMouserMode:deuserModuserMode:useuuserMode:serMode:rMuserMode:ode:e::teruuuserMode:serMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserModeuserMode::ModuserMode:e:Mode:cpp:					rt->fuseuseuseruserMode:userMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::ususerMode:erModuserMode:euserMode::rMusususerMode:erMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:userMode:odeuserMode::euserModeuserMode::rMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: 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userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t 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useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserMode::ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserMode:Mode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserMode:Mode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserMode:Mode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserMode:Mode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMode:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuserMode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruserMode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruserMode:Mode:Mode:Mode:Mode:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMouseruseruserMode:Mode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModeuseruserMode:Mode::de:useruseuususerMode:erMode:seruseruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMouserMode:de:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:useuserMode:rMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMoususerMode:erModeuserMode::de:useuserModeuserModuseruserMode:ModeuserMode::e::rMode:ususeuserMode:rMode:eruserususerModeuseruseruserMode:Mode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseuuserMode:suseruserMode:Mode:erMode:rMode::userMode:dususeruserMuserMode:oduserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:userMode:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususeuserMode:rMode:erEusuuserModeuserModeuseruserMode:Mode:::serModuserMode:e:erMouserMode:deuserMode::xit !=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userMode:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::Mode:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s 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=userMode:usususeruserMode:Mode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:eruserMode:ModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuseruserMode:Mode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserModuserMode:e:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: ususerMode:erMode:uuserMouserMode:de:useuserMode:rMode:serMuseuseruserMode:Mode:useuserMode:rMouserMode:de:rMode:ouserMode:duserMode:e:userMode:seuserMode:rvuserModeuserModeuserMode:::o louserMode:userModuserMode:e:ouserModuserMode:e:p userMode:cuserMode:ounuserMuserMode:ouserMode:de:t userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuuserMode:serususeususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode:userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:userMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserModuserMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == 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rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserModeuserMode:::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModuserMode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:MuserMode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:odususerMode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususeruserMode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:useruserMode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>userMode:userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userMuseruserMode:Mode:oduserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:ususeruserMode:Mode:erMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouseruserMode:Mode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuseruserMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*ususeruserMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserModeuseruserMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuseruserMode:Mode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuseruserMode:Mode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususeruserMode:Mode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruseruserMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MuserMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]useuserMode:rMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserModeuserMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMouserMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguseuserMode:rModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuseruserMode:Mode:seruserModeuuserMode:serMode::Mode:euserMususerModuseruserMode:Mode:euserMode:						57.3*rtuserMode:->uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMode:serModususeruseuserMode:rMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMouseruserModuserMode:e:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 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rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:useruserMode:Mode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuuserMode:serMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserModeuserMode::Mode:ee[1userModeuseruseuserModuserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMode:ouseruserModuserMode:e:Mode:duserMode:ususerMode:erMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:rMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMode:rt->ususerMouserMode:de:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserModuserMode:e:e:serMouserMode:de:userMode:duserMode:e:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuuserMode:serususerMode:erMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userMouserMode:deuseuserMode:useruserMouserModuserMode:e:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeususerMode:erMode:rMode:erMode:seruserModeuserMode::ModeuserMode::F[useuserMode:rMode:1], 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rt->x[2]uuseuserMode:rMouserMode:de:serModeuserMode::useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seuserMode:ruserMode:userMuserModuserMode:e:oduserMode:e:MuserMouserMode:de:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:duserMode:e:euuserMode:serModuserMode:e:rMoususerMode:erModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuseruserMode:Mode:userMode:ode:ModeuserMode::userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserModeuserMode::ode:euuserMode:serModuserMode:euserMode::rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:ModeuserMode::userModususerMode:useuserMode:rMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserModuserMode:e:e:userModuserMode:e:userMode:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:oususerMode:erMouseuserMode:rMode:userMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuseuserMode:rMode:userModuserMode:e::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erModeuserMode::xeeuserMode:[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:oduseruserMode:Mode:e:rMode:e:MuseruserMode:Mode:oduserMouserMuserMode:ode:de:e:], 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userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euserMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t 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useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMode::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserMode::ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserMode:Mode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserMode:Mode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserMode:Mode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserMode:Mode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] 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tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususerMode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususerMode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouserMode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruserMode:Mode:ode:MouseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMouseruseruserMode:Mode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserMode::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
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userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s 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=userMode:usususeruserMode:Mode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:eruserMode:ModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuseruserMode:Mode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserModuserMode:e:deuuserMode:serMode::serMode::euserMode:useruserMode:userMode:Mode: ususerMode:erMode:uuserMouserModeuserMode::de:useuserMode:rMode:serMuseuseruserMode:Mode:useuserMode:rMouserMode:de:rMode:ouserMode:duserMode:e:userMode:seuserMode:rvuserModeuserModeuserMode:::o louserMode:userModuserMode:e:ouserModuserMode:e:p userMode:cuserMode:ounuserMuserMode:ouserMode:de:t userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuuserMode:serususeususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode:userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:userMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserModuserMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == 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rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserModeuserMode:::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModuserMode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:MuserMode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:odususerMode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususeruserMode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:useruserMode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userMuseruserMode:Mode:oduserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:ususeruserMode:Mode:erMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouseruserMode:Mode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuseruserMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*ususeruserMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserModeuseruserMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuseruserMode:Mode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuseruserMode:Mode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususeruserMode:Mode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruseruserMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MuserMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]useuserMode:rMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserModeuserMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMouserMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguseuserMode:rModuserModeuserMode::e:ouseruseruseususerModeuseruserMode:Mode::erMode:rMuserMuserModeuserMode::ode:oduuseruserMode:Mode:seruserModeuuserMode:serMode::Mode:euserMususerModuseuserMode:ruserMode:Mode:euserMode:						57.3*rtuserMode:->uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMode:serModususeruseuserMode:rMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMouseruserModuserMode:e:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMususerMode:erMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:userMode:Mode:*rt-userModeuserMode:userModuseruserMode:ModeuserMode::serususerMode:erMode:Mode:userModeuserMode:::de:		userMususerMode:erMode:ode:			rt->x_duserMode:esuseuseuserMoususeruserMode:Mode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserModuserMode:e:e:rMuuserMode:serMode:ode::rModuuserMode:serModuuserMode:serMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuuserMode:seuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2userMode:])userMode:;userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:useruserMode:Mode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuuserMode:serMode:e:de:	userMode:		userMode:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserModeuserMode::Mode:ee[1userModeuseruseuserMouserMode:duserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], 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rt->x[2]uuseuserMode:rMouserMode:de:serModeuserMode::useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seuserMode:ruserMode:userMuserModuserMode:e:oduserMode:e:MuserMouserMode:de:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:duserMode:e:euuserMode:serModuserMode:e:rMoususerMode:erModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuseruserMode:Mode:userMode:ode:ModeuserMode::userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserModeuserMode::ode:euuserMode:serModuserMode:euserMode::rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:ModeuserMode::userModususerMode:useuserMode:rMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserModuserMode:e:e:userModuserMode:e:userMode:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:oususerMode:erMouseuserMode:rMode:userMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuseuserMode:rMode:userModuserMode:e::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erModeuserMode::xeeuserMode:[userMode:1ususerModuserMode:e:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:oduseruserMode:Mode:e:rMode:e:MuseruserMode:MouserMode:de:oduserMouserMuserMode:ode:de:e:], userModeususerMode:erMode::rt->xeuserModeuserMode::userMode:userusuuserMode:serMode:euserMuserMode:oduserMouserMode:de:e:rModeuseruseuserMode:rMode:userMode:MouserMode:de::MuseuserMode:rModeuserMode::oduserMode:euserModeuserMode:::userMouserMuserMode:ode:de:ususerMode:euserMode:userMode:userMode:		userMode:	userMode:rt->deuserMode:siusususerMode:euserMode:rMode:erusususeuserMode:rMode:erMouserMode:de:euserModuuserMode:seuserMode:rMode:e:userMode:ruserMuserMode:oduserMode:e:MuserMode:userMode:ode:Mode:redForce[0useuserModuserMode:e:rMode:],uuserModeuserMuseruseuserMode:rMode:Mode:ode::suserMode:erMode:serMuserMode:ode:erModeuseuserMode:rModeuserMode:::Mode:rt->forceuuserMuserMode:ode:seruserMode:userMode:ModeususerMode:erMode::userModuserMode:e:useuserMode:rMuserMode:ode:ususerMode:erMode:userMode:userMode:userMode:usuuseuserMode:rMode:iuserModeuserMode::nuuseruserMode:ModususerMode:erMouseuserMode:rMouserMode:duserMode:e:deuserMode::e:serMouserMode:deuserModuserMode:useuuserMode:serMode:rMuserMode:ode:e::teruuuserMode:serMode:serMode:_useuserMouserMode:de:rMode:ouserususerMode:erMode:Mode:rg.useruseruserModeuserMode::ModuserMode:e:Mode:cpp:					rt->fuseuseuseruserMode:userMode:Mode:rususerMuserMode:ode:erMode:Mode:ruserMuserMode:ouseuseuserMode:rModeuserModeuserMode:::ususerMode:erModuserMode:euserMode::rMusususerMode:erMode:userMuserMode:ode:erMode:ouserMode:userMode:de:de:Mode:orce[1],ususeruserMode:MouserMode:de:userMuserMode:userMode:odeuserMode::euserModeuserMode::rMode:useruserMode:MouuserModuseruserMode:Mode:e:serModeuserMode::de: 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userModeuserModeuserMode:::rt->fusuuseruserMode:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t 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useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMode::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserMode:::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserMode::ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserMode:Mode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserMode:Mode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserMode:Mode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserMode:Mode:euserMode::rususeruserMode:Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:Mode::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuserMode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuserMode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:seruseruserMode::MuseruseruserMode:Mode:Mode:ode:MouseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMouseruseruserMode:Mode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuserModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruserMode:Mode::);
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rt-userMode:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:e:userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::seuserMode:rMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerMode:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususeruserMode:Mode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:eruserMode:ModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuseruserMode:Mode:e:erMouuseuserMode:rMode:serModeuserMode::userMode:deuuserMouserModuserMode:e:deuuserMode:serMode:userMode::serMode::euserMode:useruserMode:userMode:Mode: ususerMode:erMode:uuserMouserModeuserMode::de:useuserMode:rMode:serMuseuseruserMode:Mode:useuserMode:rMouserMode:de:rMode:ouserMode:duserMode:e:userMode:seuserMode:rvuserModeuserModeuserMode:::o louserMode:userModuserMode:e:ouserModuserMode:e:p userMode:cuserMode:ounuserMuserMode:ouserMode:de:t userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuuserMode:serususeususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode:userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:userMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserModuserMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == 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iuserMode:ususerMode:uuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouserMode:useuseruserModuserMode:e:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:userMode:de:suserModuseuserMode:ruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:uuserMode:seuserMode:rMouserMode:de::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerModeuserMode::erMode:de:useuserMode:rMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::ouserMode:puserMode: couuserMode:ususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuseuserMode:rMode:tuseuseruserMode:Mode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:seruserMode:ModuserMode:e:userMode:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruseuserMode:rMode:Mode::eruserMode:Mode:om userMouserMode:de:userMode:rt-userMode:>time, 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rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserModeuserMode:::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModuserMode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:MuserMode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:odususerMode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususeruserMode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userMuseruserMode:Mode:oduserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:ususeruserMode:Mode:erMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouseruserMode:Mode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuseruserMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*ususeruserMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserModeuseruserMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuseruserMode:Mode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuseruserMode:Mode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususeruserMode:Mode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruseruserMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MuserMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]useuserMode:rMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserModeuserMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeuserMode:: ususerMode:erModeuserMode:userModususerMouserMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:ode:e::57.3*rt->jguseuserMode:rModuserModeuserMode::e:ouseruseruseususerModeuseruserModeuserMode::Mode::erMode:rMuserMuserModeuserMode::ode:oduuseruserMode:Mode:seruserModeuuserMode:serMode::Mode:euserMususerModuseuserMode:ruserMode:Mode:euserMode:						57.3*rtuserMode:->uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMode:serModususeruseuserMode:rMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMouseruserModuserMode:e:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMususerMode:erMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:userMode:Mode:*rt-userModeuserMode:userModuseruserMode:ModeuserMode::serususerMode:erMode:Mode:userModeuserMode:::de:		userMususerMode:erMode:ode:			rt->x_duserMode:esuseuseuserMoususeruserMode:Mode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserModuserMode:e:e:rMuuserMode:serMode:ode::rModuuserMode:serModuuserMode:serMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuuserMode:seuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2userMode:])userMode:;userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:useruserMode:Mode:MouseruserMode:uuserMode:serMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuuserMode:serMode:e:de:	userMode:		userMouserMode:de:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserModeuserMode::Mode:ee[1userModeuseruseuserMouserMode:duserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMode:ouseruserModuserMode:e:Mode:duserMode:ususerMode:erMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:rMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMode:rt->ususerMouserMode:de:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserModuserMode:e:e:serMouserMode:de:userMode:duserMode:e:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuuserMode:serususerMode:erMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userMouserMode:deuseuserMode:useruserMouserModuserMode:e:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeususerMode:erMode:rMode:erMode:seruserModeuserMode::ModeuserMode::F[useuserMode:rMode:1], 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rt->x[2]uuseuserMode:rMouserMode:de:serModeuserMode::useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seuserMode:ruserMode:userMuserModuserMode:e:oduserMode:e:MuserMouserMode:de:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:duserMode:e:euuserMode:serModuserMode:e:rMoususerMode:erModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuseruserMode:Mode:userMode:ode:ModeuserMode::userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserModeuserMode::ode:euuserMode:serModuserMode:euserMode::rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:ModeuserMode::userModususerMode:useuserMode:rMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserModuserMode:e:e:userModuserMode:e:userMode:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:oususerMode:erMouseuserMode:rMode:userMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuseuserMode:rMode:userModuserMode:e::serususerMode:userMode:erMode:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erModeuserMode::xeeuserMode:[userMode:1ususerModuserMode:e:userMode:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:oduseruserMode:Mode:e:rMode:e:MuseruserMode:MouserMode:de:oduserMouserMuserMode:ode:de:e:], 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rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:Mode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMode:Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserMode:::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserMode:::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserMode::ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserMode:Mode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserMode:Mode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserMode:Mode:suserMode:erMouseruserMode:Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserMode:Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:Mode:Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuserMode:ouseruseruserMode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruserMode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruserMode:Mode::Mode:Mode:e:uuseruseruserMode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:seruseruserMode::MuseruseruserMode:Mode:Mode:ode:MouseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMouseruseruserMode:Mode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuserModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:Mode:e:::ageuserModuserMode:euserMode::[0]userModeuseruseruserMode:Mode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModuserMode:euseruserMode:Mode::de:useruseuususerMode:erMode:serususerMode:eruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMouserMode:de:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:useuserMode:rMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMoususerMode:erModeuserMode::de:useuserModeuserModuseruserMode:ModeuserMode::e::rMode:ususeuserMode:rMode:eruserususerModeuseruseruserMode:Mode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseuuserMode:suseruserMode:Mode:erMode:rMode::userMode:dususeruserMuserMode:oduserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:userMode:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususeuserMode:rMode:erEusuuserModeuserModeuseruserMode:Mode:::serModuserMode:e:erMouserMode:deuserMode::xit !=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userMode:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserMode:euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::seuserMode:rMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuserMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerModuserMode:e:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususeruserMode:Mode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:eruserMode:ModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMode:odeuserMode::s tuserMouserMode:uuserMode:serMode:de:hususerModuseruserMode:Mode:e:erMouuseuserModuserMode:e:rMode:serModeuserMode::userMode:deuuserMouserModuserMode:e:deuuserMode:serMode:userMode::serMode::euserMode:useruserMode:userMode:Mode: ususerMode:erMode:uuserMouserModeuserMode::de:useuserMode:rMode:serMuseuseruserMode:Mode:useuserMode:rMouserMode:de:rMode:ouserMode:duserMode:e:userMode:seuserMode:rvuserModeuserModeuserMode:::o louserMode:userModuserMode:e:ouserModuserMode:e:p userMode:cuserMode:ounuserMuserMode:ouserMode:de:t userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuuserMode:serususeususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode:userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:userMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserModuserMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == 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rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserModeuserMode:::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModuserMode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:MuserMode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:odususerMode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userMuseruserMode:Mode:oduserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:ususeruserMode:Mode:erMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouseruserMode:Mode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuseruserMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*ususeruserMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserModeuseruserMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuseruserMode:Mode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuseruserMode:Mode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususeruserMode:Mode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruseruserMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MuserMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]useuserMode:rMode:,userMode: 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5userMode:7.3uuseruserMode:Mode:suserMususerMode:erMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:userMode:Mode:*rt-userModeuserMode:userModuseruserMode:ModeuserMode::serususerMode:erMode:Mode:userModeuserMode:::de:		userMususerMode:erMode:ode:			rt->x_duserMode:esuseuseuserMoususeruserMode:Mode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserModuserMode:e:e:rMuuserMode:serMode:ode::rModuuserMode:serModuuserMode:serMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuuserMode:seuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2userMode:])userMode:;userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:ode:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:useruserMode:Mode:MouseruserMode:uuserMode:suserMode:erMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuuserMode:serMode:e:de:	userMode:		userMouserMode:de:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserModeuserMode::Mode:ee[1userModeuseruseuserMouserMode:duserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMode:ouseruserModuserMode:e:Mode:duserMode:ususerMode:erMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:rMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMode:rt->ususerMouserMode:de:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserModuserMode:e:e:serMouserMode:de:userMode:duserMode:e:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuuserMode:serususerMode:erMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userMouserMode:deuseuserMode:useruserMouserModuserMode:e:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeususerMode:erMode:rMode:erMode:seruserModeuserMode::ModeuserMode::F[useuserMode:rMode:1], 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rt->x[2]uuseuserMode:rMouserMode:de:serModeuserMode::useuuserModeuserMode::serMode:rMode:userMuserMode:ode:userMouuserMode:seuserMode:ruserMode:userMuserModuserMode:e:oduserMode:e:MuserMouserMode:de:ode:de:userModuserMode:e:usususerMuserMode:oduserMode:e:euserMode:rMouseruserMode:Mode:duserMode:e:euuserMode:serModuserMode:e:rMoususerMode:erModeuuserMode:suserMode:erModeuserMode:::de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:rMuseruserMode:Mode:userMode:ode:ModeuserMode::userMode:uuserMode:seuserMode:rMuseuserMouuserMode:serMode:de:rModuseruserMode:Mode:e:odususerMuserModeuserMode::ode:euuserMode:serModuserMode:euserMode::rMode:eususerModuserMode:e:userMode:erMuserMode:ouseruseruserModeuseuserMode:rMode::Mode:ModeuserMode::userModususerMode:useuserMode:rMode:eruserMode:MouserMode:de:e:userMode:userMouserMode:userModeuserMode::de:uuserMode:seuserModuserModuserMode:e:e:userModuserMode:e:userMode:ruserMuserMode:ode:ModuserMode:e:rt->userMode:xee[0useruseruserMode:ModuserMode:e:MuserMode:userMode:oususerMode:erMouseuserMode:rMode:userMode:de:duuserMode:serModuseruserMode:MuserMode:ode:e:e:useruserMode:Mode:userMode:useuseruserMode:Mode:rMode:ususeuseuserMode:rMode:userModuserMode:e::serususerMode:userMode:erModuserMode:e:ModeususeuserMode:rMode:euserMode:rususeuserMode:rMode:erMode:Mode::rt->ususerMode:erModeuserMode::xeeuserMode:[userMode:1ususerModuserMode:e:userMode:eruserMouserMouserMode:de:de:userMode:ususerMode:erMouserModuserMode:e:duseuserMuseruserMode:Mode:oduseruserMode:Mode:e:rMode:e:MuseruserMode:MouserMode:de:oduserMouserMuserMode:ode:de:e:], 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57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerModeuserMode::erModuseruseruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::duserMode:e:userMode:usususerususerMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:ModuserMode:e:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:oduserMode:e:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:userMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rModuserMode:e:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouserususerMode:erMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuseuserMode:rMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:ModuserMode:e:userMode::uuserMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserMode:serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserMode::Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserMode:::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserMode:::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserMode::ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserMode:Mode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserMode:Mode:euserMode::dususeruserMode:Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserMode:Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserMode:Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
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tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruserMode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] 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rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouserMode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] 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rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruserMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuserMode::ruserModeuseruserModeuseruserMode:Mode::MouserMode:deuserMode:::MuserMode:odeuserModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMode::[0]userModeuseruseruserMode:Mode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModuserMode:euseruserMode:Mode::de:useruseuususerMode:erMode:serususerMode:eruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMouserMode:de:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:useuserMode:rMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMoususerMode:erModeuserMode::de:useuserModeuserModuseruserMode:ModeuserMode::e::rMode:ususeuserMode:rMode:eruserususerModeuseruseruserMode:Mode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseuuserMode:suseruserMode:Mode:erMode:rMode::userMode:dususeruserMuserMode:oduserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:userMode:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususeuserMode:rMode:erEusuuserModeuserModeuseruserMode:Mode:::serModuserMode:e:erMouserMode:deuserMode::xit !=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userMode:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:Mode:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s usuuserModeuserModeuserMode:::seuserMode:rMouserMode:useruseuserMode:rMode:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuseuserMode:rMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerModuserMode:e:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] =userMode:usususeruserMode:Mode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:eruserMode:ModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// rt->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:housuserMode:eruserMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erModeuserModeuserMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMode:odeuserMode::s tuserMode:userMouserMode:uuserMode:serMode:de:hususerModuseruserMode:Mode:e:erMouuseuserModuserMode:e:rMode:serModeuserMode::userMode:deuuserMouserModuserMode:e:deuuserMode:serMode:userMode::serMode::euserMode:useruserMode:userMode:Mode: ususerMode:erMode:uuserMouserModeuserMode::de:useuserMode:rMode:serMuseuseruserMode:Mode:useuserMode:rMouserMode:de:rMode:ouserMode:duserMode:e:userMode:seuserMode:rvuserModeuserModeuserMode:::o louserMode:userModuserMode:e:ouserModuserMode:e:p userMode:cuserMode:ounuserMuserMode:ouserMode:de:t userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuuserMode:serususeususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode:userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:userMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserModuserMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == uususerMode:erMode:serMouserMode:de:useruseruserModeuserMode::Mode:ModuserMuseruseruserMode:userMode:MuserMode:odeuserMode::Mode:ode:useruserModuserModuserMode:euserMode::e:MouserModuserMode:e:duseuserusuuserMode:serModuserMode:e:uuserMode:er_org.useuserMode:userMode:ruserMode:ModuserMode:e:cuuserMode:seruuseuserMode:rMode:seuserMode:rMode:Mode:ppuserMode::			// rt->userModeuseuseruserMode:Mode:rMode::tiuserMode:me userMouserMode:duserMode:euseuserMode:rMode::userMode:iuserMode:userMuserMode:ode:s userMode:userModeuserMode::timuuserMode:useruserMode:Mode:seruserMode:Mode:e euuserMuserMode:oduserMode:e:seuserMode:ruserMode:Mode:rt->huserMode:onduseuserModeuserMode::rusususerMode:erMode:euserMode:rMode:Mode:auserMode:_couserMode:unuserMode:t iuserMode:ususerMode:uuserMode:serModeususerMuserModeuserMode::ode:erMode::eruserMode:MouserMode:useuseruserModuserMode:e:MuserModuserMode:e:oduserMode:e:userModuserMode:euserMode::rMode:userMode:de:suserModuseuserMode:ruseuserModuserModeuserMode::euserMuserMode:ouserMuserMode:ode:de:uuserMode:seuserMode:rMouserMode:de::userMode:rMuuserMode:seruserMode:MuserMode:ode:ode:MoususerModeuserMode::erMode:de:useuserMode:rMode:userMode:e: the servuserMode:o userMode:louserModeuserMode::ouserMode:puserMode: couuserMode:ususerMuserMode:ode:erMouserMode:deuserMode::suserMode:erMode:unuseuserMode:rMode:tuseuseruserMode:Mode:rMode:useuserModuserMode:e:userMode:ruserMode:ModuuserMode:seruserMode:ModuserMode:e:userMode:e: fuuserMode:serModuserMode:e:rususeuserMode:rMode:userModeuseruseuserMode:rMode:Mode::eruserMode:Mode:om userMouserMode:de:userMode:rt-userMode:>time, 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rt->x[ususerMuserMode:oduseuserMode:rMuserMode:odeuseuserMode:rMode::euserModeuserMode:::euserMode:rMouserMode:deususerMode:erMode::useruseuserMode:rMode:MuserMode:ouserMode:deuseuserModuserMode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:suserMode:erMode:useuserModuserMode:e:ruserMode:MuserMode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMode:userMode:ModeuserMode::MuserMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:Mode:::Mode:orguseruserModuserMode:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMuserMode:ode:euserMode::.cpp:						userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:serMouseuserMode:rMode:duserModuserMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::seruserModeuserMode::uuserMode:serModuserModeuserMode::e:Mode:ode:xee[userMuseruserMode:Mode:oduserMode:e:1], rt-uususerMode:erMode:serMode:rMode:duuserMode:serMode:e:p:		userMode:	userMode:ususeruserMode:Mode:erMode:			usuuserModuserMode:e:suserMode:userMode:erModuserModususerMode:erMode:e:e:useuserMode:rMouseruserMode:Mode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMode:goauuserMode:seruuserMode:serMode:ModeususeuseruserMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususerMode:erModeuserMode:::userMouserMode:de:.3*ususeruserMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:erMode:userMode:userMode:userMouserModeuserModeuseruserMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[ususerMouserModuserMode:e:de:euserMode:rMuserMuseruserMode:Mode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:de:rt-userMode:>jgoal[2]userMode:,uuserMode:seuseruserMode:Mode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suserMode:erMouseruserModeuserMode::MouserMode:deususeruserMode:Mode:erMode:userMode::deuserMode::odeuserMode::userMode:userMuserMode:ode:ususerMode:euserMode:rMoususeruseruserMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:euserMode::deuserMode::uuserMode:serMode:	57userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMode:goaususeruseuserMode:ruserMode:ModeuserMode::MuserMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserMode:Mode:luuserMode:seruserMode:ModeuserMode::[3]useuserMode:rMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserModuserMode:e:serMouserMode:de:oduserMode:euserModeuserMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeususerMode:erMode:: ususerMode:erModeuserMode:userModususerMouserMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModuserMode:eususerMode:erMode::userMode:ode:e::57.3*rt->jguseuserMode:rModuserModeuserMode::e:ouseruseruseususerModeuseruserModeuserMode::Mode::erMode:rMuserMuserModeuserMode::ode:oduuseruserMode:Mode:seruserModeuuserMode:serMode::Mode:euserMususerModuseuserMode:ruserMode:Mode:euserMode:						57.3*rtuserMode:->uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMode:serModususeruseuserMode:rMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMouseruserModuserMode:e:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 5userMode:7.3uuseruserMode:Mode:suserMususerMode:erMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:userMode:Mode:*rt-userModeuserMode:userModuseruserMode:ModeuserMode::serususerMode:erMode:Mode:userModeuserMode:::de:		userMususerMode:erMode:ode:			rt->x_duserMode:esuseuseuserMoususeruserMode:Mode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserModuserMode:e:e:rMuuserMode:serMode:ode::rModuuserMode:serModuuserMode:serMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuuserMode:seuserMode:ruserMode:Mode:oduserMode:e::userMode::userMode:userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2userMode:])userMode:;userMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:serMode:], rt->userModuserMoususerMode:erMode:de:serMouseuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMode:uuserMode:serMode:ode:userMode:de:userMode:userModuserMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseruserMuserMode:ode:Mode:serMode:Mode:ususerModuserMode:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserMode:sususerMode:euserMode:userMode:e:ouserModeuserMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:oduserMode:e:seruserModeuserModuserMode:e::userModeususerMode:erMode::Mode:de:.cuseruserMode:useruserMode:Mode:MouseruserMode:uuserMode:suserMode:erMode:MouserMode:de:useruserMode:Mode:userModeuserMode::de:userMode:pp:userMouserModuuserMode:serMode:e:de:	userMode:		userMouserMode:de:			ususerMode:erModeuserMode::rt-userModeuserMode::>userMouserMode:de:xuseruserModeuserMode::Mode:ee[1userModeuseruseuserMouserMode:duserMode:e:rMode:MouserModuseruserMode:Mode:euserMode::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMode:ouseruserModuserMode:e:Mode:duserMode:ususerMode:erMode:e:tuserMode:->xuserModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:rMode:uuserMode:suseuserMode:rModeuseuserMode:rMode:userMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMode:rt->ususerMouserMode:de:erMode:F[0]uuserMode:serModeuserMode:userModuserModeuserMode::e:ususuuserModuserModuserMode:e:e:serMouserMode:de:userMode:duserMode:e:teuseruserMode:Mode:userMode:r_userMode:org.cpp:	userMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuuserMode:serususerMode:erMode:ModeuseruserMode:Mode::serMode:userModuserMouserMode:de:e:rtuseruserMode:userMouserMode:deuseuserMode:useruserMouserModuserMode:e:de:Mode:rMuserMode:ode:userMode:userMode::MouseuserMode:rMode:de:->userMode:uususeususerMode:erMode:rMode:erMode:seruserModeuserMode::ModeuserMode::F[useuserMode:rMode:1], 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userModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:ModuserMode:e:de:>q_desuuserMode:seruserMouserMode:duuserMode:seruserMode:ModeuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouseuserMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::euserMode::q[userMode:1]userMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserMode::ode:seruserMode:Mode:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouserMode:de:userMode:uuuserModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerMuserMode:odeuserMode::erModuseruseruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::duserMode:e:userMode:usususerususerMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:ModuserMode:e:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:oduserMode:e:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:userMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rModuserMode:e:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouserususerMode:erMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuseuserMode:rMouserMode:duserMouserMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserMode:e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserMode::Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserMode:::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserMode:::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserMode::ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserMode:Mode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserMode:Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserMode:Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserMode:Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]userMode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruserMode:Mode:Mode:e:userMouserMode:de:userMode:userMouserMode:de:useuserModeuseruserMode:Mode::ruseuserModeuserMode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruserMode:Mode:de::userMode:uuseruseruserMode:Mode:Mode:seruserMode:MuseruserMode:Mode:oduseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:e:uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:seruseruserMode::MuseruseruserMode:Mode:Mode:ode:MouseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMouseruseruserMode:Mode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- 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rt-userMode:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::userMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, 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usuuserModeuserModeuserMode:::seuserMode:rMouserMode:useruseuserMode:rMouserMode:de:Mode:ueCommanuserMode:useuseruserMode:Mode:uuserMode:serMode:rModeuseuserMode:rMode::d(rt-userMode:>uususerModuserMode:userMuserMode:ode:e:e:ususerModuserMode:e:erMouserMode:duserMode:e:rModeuserMode:uuserModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserMode:Mode:deuuserMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:ModuserModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserMode:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userMode:seuserMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserModeuserModeuserMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::	rt->q[iuserModeuseruserMode:MuserMode:ode::] 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useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rtuserMode:->uuserModeuserMode::seuserMode:ruserMouserMode:de:Mode:quserMode:_userMode:deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModuserMode:ususerMode:erMode:e:useuserMode:rMode:userMode:useruuserModuseruseuuserMode:serMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:useuserMode:rMode:Mode:userususerMouserMode:de:erMode:uuuserMode:sususerMode:eruserMode:Mode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:userMode:e:userMode:useuserMode:userMode:ruseruuseruserMode:Mode:seuserMode:userMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:oduserMode:e:t->q_duserModeuserMode::es[3],userMode:useruserModeuserMode::Mode: userModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:ModuserMode:e:de:>q_desuuserMode:seruserMouserMode:duuserMode:seruserMode:ModeuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouseuserMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::euserMode::q[userMode:1]userMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserMode::ode:seruserMode:Mode:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserMode:seruserususerMode:erMode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouuserMode:serMode:de:userMode:uuuserModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerMuserMode:odeuserMode::erModuseruseruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::duserMode:e:userMode:usususerususerMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:ModuserMode:e:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:oduserMode:e:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:userMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rModuserMode:e:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouserususerMode:erMode:Mode:de:ModuserMode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:ode:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserMode::Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserMode:::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserMode:::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserMode::ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserMode:Mode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserMode:Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserMode:Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserMode:Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erModeuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], 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rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:Mode:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserModeuserModeuseruserMode:Mode:::Mode:erMode:userMode:Mode::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuserModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMode::[0]userModeuseruseruserMode:Mode:Mode::);
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rt-userMode:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseuserMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:erMuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserMode:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s 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=userMode:usususeruserMode:Mode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:eruserMode:ModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt->pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// 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%d\nuuserMode:serususeususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode:userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:userMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserModuserMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == 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5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuserMode:ruseruserMode:Mode:ususerModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userModuserMode:e:de:duserMususerMode:euserMode:rMode:odeuseruserMode:MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rtuserMode:->uuserModeuserMode::seuserMode:ruserMouserMode:de:Mode:quserMode:_userMode:deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModuserMode:ususerMode:erMode:e:useuserMode:rMode:userMode:useruuserModuseruseuuserMode:serMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:useuserMode:rMode:Mode:userususerMouserMode:de:erMode:uuuserMode:sususerMode:eruserMode:Mode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:userMode:e:userMode:useuserMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:oduserMode:e:t->q_duserModeuserMode::es[3],userMode:useruserModeuserMode::Mode: userModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:ModuserMode:e:de:>q_desuuserMode:seruserMouserMode:duuserMode:seruserMode:ModeuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouseuserMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::euserMode::q[userMode:1]userMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserMode::ode:seruserMode:Mode:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserModuserMode:e:seruserususerMode:erMode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouuserMode:serMode:de:userMode:uuuserModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerMuserMode:odeuserMode::erModuseruseruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::duserMode:e:userMode:usususerususerMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:ModuserMode:e:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:oduserMode:e:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:userMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rModuserMode:e:], rtuuserMode:serModeuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouserususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserMode:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserMode::Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserMode:::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserMode:::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserMode::ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserMode:Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserMode:Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserMode:Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserMode:Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::Mode:ususerMode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, 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userMouseruserMode:Mode:de:= 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rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- 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uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruserMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, 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%d\nuuserMode:serususeususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode:userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:userMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserModuserMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == 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5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuserMode:ruseruserMode:Mode:ususerModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userModuserMode:e:de:duserMususerMode:euserMode:rMode:odeuseruserMode:MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rtuserMode:->uuserModeuserMode::seuserMode:ruserMouserMode:de:Mode:quserMode:_userMode:deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModuserMode:ususerMode:erMode:e:useuserMode:rMode:userMode:useruuserModuseruseuuserMode:serMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:useuserMode:rMode:Mode:userususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:userMode:e:userMode:useuserMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:oduserMode:e:t->q_duserModeuserMode::es[3],userMode:useruserModeuserMode::Mode: userModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:ModuserMode:e:de:>q_desuuserMode:seruserMouserMode:duuserMode:seruserMode:ModeuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouseuserMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::euserMode::q[userMode:1]userMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:Mode:userMode:nter_org.cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserModuserMode:e::ode:seruserMode:Mode:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserModuserMode:e:seruserususerMode:erMode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouuserMode:serMode:de:userMode:uuuserModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerMuserMode:odeuserMode::erModuseruseruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::duserMode:e:userMode:usususerususerMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:ModuserMode:e:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:oduserMode:e:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:userMode:, userMode:rt-userMode:>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rModuserMode:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouserususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserMode::Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserMode:::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserMode:::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserMode::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserMode:Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserMode:Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserMode:Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserMode:Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
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= 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userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruserMode:Mode:serMode:ModeususeruseruserMode:Mode:Mode:euseruserModeuseruserMode:Mode::Mode:ruserMode:MouseruseruserMode:Mode:Mode:de::userMode:uuseruseruseruserMode:Mode:Mode:Mode:seruserMode:MuseruseruserMode:Mode:Mode:oduseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:e:uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:seruseruserMode::MuseruseruserMode:Mode:Mode:ode:MouseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMouseruseruserMode:Mode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serMode:Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouserMode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuserMode:Mode::,rt->ad_vouususerMode:erMode:suserMode:eruseuseruserMode:Mode:rMode:ModeuseruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::Mode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuserModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMode::[0]userModeuseruseruserMode:Mode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModuserMode:euseruserMode:Mode::de:useruseuususerMode:erMode:serususerMode:eruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMouserMode:de:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:useuserMode:rMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMoususerMode:erModeuserMode::de:useuserModeuserModuseruserMode:ModeuserMode::e::rMode:ususeuserMode:rMode:eruserususerModeuseruseruserMode:Mode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseuuserMode:suseruserMode:Mode:erMode:rMode::userMode:dususeruserMuserMode:oduserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:userMode:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususeuserMode:rMode:erEusuuserModeuserModeuseruserMode:Mode:::serModuserMode:e:erMouserMode:deuserMode::xit !=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userMode:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:ode:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruseuserMode:rMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuseruseuserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserMode:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMode:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuserMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserMode:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMode:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserMode:rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:eruserMode:MuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserModuserMode:e:iuserModuserMode:e:me userModeuserMode::iuserModeuserMode::userMode:s 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=userMode:usususeruserMode:Mode:erModuserMuserMode:ouserMode:de:userMode:e:erususeruserMode:Mode:eruserMode:ModususerMode:erMode:e:useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMode:seruserMode:Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:e:oduserMode:useuserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMuserMode:oduserMode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserMode:rMode:MuserModuserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:e:userMode:userMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuserMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:ode:userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserMode:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuserMode:rMode:de::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserMode:serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	rtuserMode:-uuseuserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMuserMode:ode:rt-userMode:>pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMode:rMode:	// rtuserMode:->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:housuserMode:eruuserMode:serMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erModeuserModeuseuserMode:rMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMode:odeuserMode::s tuserMode:userMouserMode:uuserMode:serMode:de:hususerModuseruserMode:Mode:e:erMouuseuserModuserMode:e:rMode:serModeuserMode::userMode:deuuserMouserModuserMode:e:deuuserMode:serMode:userMode::serMode::euserMode:useruserMode:userMode:Mode: ususerMode:erMode:uuserMouserModeuserMode::de:useuserMode:rMode:serMuseuseruserMode:Mode:useuserMode:rMouserMode:de:rMode:ouserMode:duserMode:e:userMode:seuserMode:rvuserModeuserModeuserMode:::o louserMode:userModuserMode:e:ouserModuserMode:e:p userMode:cuserMode:ounuserMuserMode:ouserMode:de:t userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuuserMode:serususeususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode:userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:userMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserModuserMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == 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57.3*rt->uuserMode:seruserMode:ModeuserMode::q[4uuserMode:seruserMode:Mode:]useuserMode:rMouserMode:deuserModususerMode:erMuserMode:ode:e::userMode:uuserMouserMode:de:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erMouserMode:deuserMode::e:userMode:useuserMode:rMouserModuserMouserModuserMode:e:de:e:de:userModeuseruserMode:ModeuserMode:::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMouserMode:de:rMuseruserModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerMode:erMode:Mode:userMode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:serMode::userModuserModeuuserMode:serMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:oduserMode:e:Mode:[userMode:ususerMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuserMode:ruseruserMode:Mode:ususerModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userModuserMode:e:de:duserMususerMode:euserMode:rMode:odeuseruserMode:MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rtuserMode:->uuserModeuserMode::seuserMode:ruserMouserMode:de:Mode:quserMode:_userMode:deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModuserMode:ususerMode:erMode:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:useuserMode:rMode:Mode:userususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:userMode:e:userMode:useuserMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:oduserMode:e:t->q_duserModeuserMode::es[3],userMode:useruserModeuserMode::Mode: userModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:ModuserMode:e:de:>q_desuuserMode:seruserMouserMode:duuserMode:seruserMode:ModeuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouseuserMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:serMode:userMode:3userModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::euserMode::q[userMode:1]userMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuserMode:e:userMode:],uuseuserMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruserMode:Mode:erMode:rMouserMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:MuserMode:ode:userMode:nter_org.cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserModuserMode:e::ode:seruserMode:Mode:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserModuserMode:e:seruserususerMode:erMode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouuserMode:serMode:de:userMode:uuuserModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerMuserMode:odeuserMode::erModuseruseruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::duserMode:e:userMode:usususerususerMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:ModuserMode:e:uuseruserMode:userMode:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:oduserMode:e:uususerMode:erMouserModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:userMode:, userMode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rModuserMode:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouserususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:u_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuserMode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserMode::Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserMode:::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserMode:::ModeuseruserMode:Mode::useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserMode::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserMode:Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserMode:Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserMode:Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserMode:Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuserMode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: 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rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- 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rt-userMode:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:eususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:Mode:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserMode:Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruserModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruuserMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserMode:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMode:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruserMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserMode:rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:oduserMode:e:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruseuserMode:rMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserMode:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuserMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserMode:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserMode:eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMususerMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserMode:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduserMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouserMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserMode:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserMode:de:>tf, 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userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t 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useruserModeuserMode::Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserMode:::xit,SuseuserMode:rModeuseruserMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserMode:::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserMode::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserMode:Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserMode:Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserMode:Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserMode:Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = 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=useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuserMode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, 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rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouserMode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] 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rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuserMode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- 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%d\nuuserMode:serususeususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode:userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuserMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		userModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:erModususerMode:userMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMode:ruseuserModuserMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == 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ususeruserMode:Mode:eruserMode:MousuuserMuserMode:oduserMode:e:serMouserMode:de:oduserMode:euserModeuserMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeususerMode:erMode:: ususerMode:erModeuserMode:userModususerMouserMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModuserMode:eususerMode:erMode::userMode:ode:e::57.3*rt->jguseuserMode:rModuserModeuserMode::e:ouseruseruseususerModeuseruserModeuserMode::Mode::erMode:rMuserMuserModeuserMode::ode:oduuseruserMode:Mode:seruserModeuuserMode:serMode::Mode:euserMususerModuseuserMode:ruserMode:Mode:euserMode:						57.3*rtuserMode:->uuserMode:serModeuserMode::userMode:uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMode:serModususeruseuserMode:rMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:Mode:userMouseruserModuserMode:e:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 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userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMode:Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerMode:erMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserMode::Mode:1useuserMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserMode:::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserMode:::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserMode::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserMode:Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserMode:Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserMode:Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususerMode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuserMode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruserMode:Mode:ode:userModeususeruseruserMode:Mode:Mode:eruserMode:MouseruserMode:Mode:de::useruserModuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:userMuseruserMode:Mode:oduserMode:e:useruuseruseruserMode:Mode:Mode:serMode:ModeususeruseruseruserMode:Mode:Mode:Mode:euseruserModeuseruseruserMode:Mode:Mode::Mode:ruserMode:MouseruseruserMode:Mode:Mode:de::userMode:uuseruseruseruserMode:Mode:Mode:Mode:seruserMode:MuseruseruserMode:Mode:Mode:oduseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:e:uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:seruseruserMode::MuseruseruserMode:Mode:Mode:ode:MouseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMouseruseruserMode:Mode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iuseruserMoususeruserMode:Mode:erModeuseruserMode:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususerMode:erMuserModuseruserMode:Mode:e:odeuseruserModuuserMode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususerMode:erMode::euuseruserMode:Mode:serMode::Mode::[iuserMode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuserMode:rMode:tfususeruserMode:Mode:euuserModeuserModuserMode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususerMode:erMode:useuseruserMode:Mode:rModeuserMode:usuuserMode:serMode:eruseruserMode:Mode:userMode:Mode::tuuserMode:seuserModeuseruserMode:Mode::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerMode:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeuseruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::Mode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuserModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMode::[0]userModeuseruseruserMode:Mode:Mode::);
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userModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:ModuserMode:e:de:>q_desuuserMode:seruserMouserMode:duuserMode:seruserMode:ModeuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouseuserMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:e:seruseruserMode:Mode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:userMode:serMode:userMode:3userModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::euserMode::q[userMode:1]userMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouserMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:MuserMode:ode:userMode:nter_org.cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserModuserMode:e::ode:seruserMode:Mode:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserModuserMode:e:seruserususerMode:erMode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouuserMode:serMode:de:userMode:uuuserModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerMuserMode:odeuserMode::erModuseruseruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::duserMode:e:userMode:usususerususerMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:oduserMode:e:uususerMode:erMouseruserMode:ModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:userMode:, userMode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rModuserMode:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouserususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMode::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuserMode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserMode::Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerMode:erMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserMode::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserMode:::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserMode:::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserMode::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserMode:Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserMode:Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rMode:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuserMode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouserMode:duserMode:e:ususeruserMode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 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rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = 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57.3*rt->uuserMode:seruserMode:ModeuserMode::q[4uuserMode:seruserMode:Mode:]useuserMode:rMouserMode:deuserModususerMode:erMuserMode:ode:e::userMode:uuserMouserMode:de:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erMouserMode:deuserMode::e:userMode:useuserMode:rMouserModuserMouserModuserMode:e:de:e:de:userModeuseruserMode:ModeuserMode:::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMouserMode:de:rMuseruserModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerMode:erMode:Mode:userMode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:serMode::userModuserModeuuserMode:serMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:oduserMode:e:Mode:[ususerMode:erMode:ususerMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuserMode:ruseruserMode:Mode:ususerMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userModuserMode:e:de:duserMususerMode:euserMode:rMode:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rtuserMode:->uuserModeuserMode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModuserMode:ususerMode:erMode:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:useuserMode:rMode:Mode:userususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:userMode:e:userMode:useuserMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserMode::MuseuserMuserMode:ode:rMuserMode:ode:oduserMode:e:t->q_duserModeuserMode::es[3],userMode:useruserModeuserMode::Mode: userModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:ususerMode:erMode:rMouseruserMode:userMode:ModuserMode:e:de:>q_desuuserMode:seruserMouserMode:duuserMode:seruserMode:ModeuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:useruserMode:MususerMode:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouseuserMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:euserMode::seruseruserMode:Mode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:userMode:serMode:userMode:3userModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::euserMode::q[userMode:1]userMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouserMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:MuserMode:ode:userMode:nter_org.cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserModuserMode:e::ode:seruserMode:Mode:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserModuserMode:e:seruserususerMode:erMode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouuserMode:serMode:de:userMode:uuuserModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerMuserMode:odeuserMode::erModuseruseruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:oduserMode:e:uususerMode:erMouseruserMode:ModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:userMode:, userMode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rModuserMode:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouserususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouserModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModususerMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuseususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserMode:Mode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserMode::Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerMode:erMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserMode::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserMode:::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserMode:::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserMode::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserMode:Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:ruseruseuserMode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruserMode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, 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rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMode::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- 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userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerMode:erMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t 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useruserModeuserMode::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserMode:::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserMode:::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserMode::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserMode:Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = 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=useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouserMode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouserMode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 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rt->q[uuserModeuseruseruserMode:Mode:Mode::seruserModeuseruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- 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userModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:usususerMode:erMode:erMode:rMouseruserMode:userMode:ModuserMode:e:de:>q_desuuserMode:seruserMouserMode:duuserMode:seruserMode:ModeuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:userMode:useruserMode:MususerMode:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouseuserMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:euserMode::seruseruserMode:Mode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:userMode:serMode:userMode:3userModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::euserMode::q[userMode:1]userMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouserMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:MuserMode:ode:userMode:nter_org.cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserModuserMode:e::ode:seruserMode:Mode:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserModuserMode:e:seruserususerMode:erMode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:oduserMode:e:uususerMode:erMouseruserMode:ModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:userMode:, userMode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rModuserMode:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMode:seruserMouserususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:userMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserMode:seususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserMode:de:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserMode:Mode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserMode::Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerMode:erMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserMode::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserMode:::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserMode:::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserMode::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:Mode:Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuserMode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuserMode::e:userMode:ususeruserMode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 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rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:serMouserModeuseruserMode:Mode::de:] = 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57.3*rt->uuserMode:seruserMode:ModeuserMode::q[4uuserMode:seruserMode:Mode:]useuserMode:rMouserMode:deuserModususerMode:erMuserMode:ode:e::userMode:uuserMouserMode:de:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erMouserMode:deuserMode::e:userMode:useuserMode:rMouserModuserMouserModuserMode:e:de:e:de:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMouserMode:de:rMuseruserModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerModuserMode:e:erMode:Mode:userMode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:serMode::ususerMode:erModuserModeuuserMode:serMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:oduserMode:e:Mode:[ususerMode:erMode:ususerMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuserMode:ruseruserMode:Mode:ususerMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userModuserMode:e:de:duserMususerMode:euserMode:rMode:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rtuserMode:->uuserModeuserMode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],ususerMode:erususerMode:eruserMode:Mode:ModuserMode:ususerMode:erMode:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::useruuserMode:userMode:serModuserMode:e:useuserMode:rMode:Mode:userususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMode:seruserMode:Mode::ModuserModuserMode:e:userMode:e:userMode:useuserMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserModuserMode:e::MuseuserMuserMode:ode:rMuserMode:ode:oduserMode:e:t->q_duserModeuserMode::es[3],userMode:useruserModeuserMode::Mode: userModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:usususerMode:erMode:erMode:rMouseruserMode:userMode:ModuserMode:e:de:>q_desuuserMode:seruserMouserMode:duuserMode:seruserMode:ModeuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:userMode:useruserMode:MususerMode:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouseuserMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:euserMode::seruseruserMode:Mode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:userMode:serMode:userMode:3userModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::euserMode::q[userMode:1]userMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouserMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:MuserMode:ode:userMode:nter_org.cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserModuserMode:e::ode:seruserMode:Mode:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:oduserMode:e:uususerMode:erMouseruserMode:ModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:]uuserMode:serMode:userMode:, userMode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMode:useuserMode:rModuserMode:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouserususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serMode:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:Mode:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserMode:serMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserMode:seususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserMode:de:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserMode:Mode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserMode::Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerMode:erMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserMode::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserMode:::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserMode:::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserMode:Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruserMode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, 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rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- 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%d\nuuserMode:serususeususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserMode:userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserMode:userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deuserMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:eruserMode:ModususerMode:userMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMouserMode:de:ruseuserModuserMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == 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userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerMode:erMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t 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useruserModeuserMode::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserMode:::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserMode:::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseuserMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuserMode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuserMode:rMode:rMode:userususerMode:eruseuserMode:rModuserMode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruserMode:Mode:ode:useruseuseuseruseruserMode:Mode:Mode:rMode:rModuseuseruserMode:Mode:ruserMode:Mode:e:MuseruseruserMode:Mode:Mode:ode:userModeususeruseruseruserMode:Mode:Mode:Mode:eruserMode:MouseruseruserMode:Mode:Mode:de::useruserModuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:userMuseruseruserMode:Mode:Mode:oduserMode:e:useruuseruseruserMode:Mode:Mode:serMode:ModeususeruseruseruserMode:Mode:Mode:Mode:euseruserModeuseruseruserMode:Mode:Mode::Mode:ruserMode:MouseruseruserMode:Mode:Mode:de::userMode:uuseruseruseruserMode:Mode:Mode:Mode:seruserMode:MuseruseruserMode:Mode:Mode:oduseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:e:uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:seruseruserMode::MuseruseruserMode:Mode:Mode:ode:MouseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMouseruseruserMode:Mode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruseruserMode:de:useruserMode:Mode:MuserMode:ode:userMode:ruseuseruserMode:Mode:rMode:tuseruserMode:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- 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57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:oduserMode:e:uususerMode:erMouseruserMode:ModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userModeuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:userMode:]uuserMode:serMode:userMode:, userMode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMode:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouserususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserMode:e:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserMode:e:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserMode:serMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserMode:seususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserMode:de:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserMode:Mode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserMode::Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerMode:erMode:e:deuserMode:de::(kiuuserMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserMode::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserMode:::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMouserMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] = tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruserMode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, 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57.3*rt->uuserMode:seruserMode:ModeuserMode::q[4uuserMode:seruserMode:Mode:]useuserMode:rMouserMode:deuserModususerMode:erMuserMode:ode:e::ususerMode:erMode:uuserMouserMode:de:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMode:erMouserMode:deuserMode::e:userMode:useuserMode:rMouserModuserMouserModuserMode:e:de:e:de:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:useruseuseuserMode:rMouserMode:de:rMuseruserModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerModuserMode:e:erMode:Mode:userMode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::Mode:userMode:erMouserMode:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:serMode::ususerMode:erModuserModeuuserMode:serMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruserMode:Mode:->q_useruserMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:oduserMode:e:Mode:[ususerMode:erMode:ususerMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMode:Mode:7userModuuserMode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuserMode:ruseruserMode:Mode:ususerMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:erMode:erMouserMouserMode:userModuserMode:e:de:duserMususerMode:euserMode:rMode:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suserMode:erMode:userModeuseruserMode:Mode::*rtuserMode:->uuserModeuserMode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],uuserMode:suserMode:erususerMode:eruserMode:Mode:ModuserMode:ususerMode:erMode:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::uuserMode:seruuserMode:userMode:serModuserMode:e:useuserMode:rMode:Mode:userususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMouserMode:de:seruserMode:Mode::ModuserModuserMode:e:userMode:e:userMode:useuserMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserModuserMode:e::MuseuserMuserMode:ode:rMuserMode:ode:oduserMode:e:t->q_duserModeuserMode::es[3],userMode:useruserModeuserMode::Mode: userModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:usususerMode:erMode:erMode:rMouseruserMode:userMode:ModuserMode:e:de:>q_desuuserMode:seruserMouserMode:duuserMode:seruserMode:ModeuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:userMode:useruserMode:MususerMode:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouseuserMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:euserMode::seruseruserMode:Mode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:userMode:serMode:userMode:3userModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::euserMode::q[userMode:1]userMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:useruserMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususerMode:erMuserMode:oduserMode:e:uususerMode:erMouseruserMode:ModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMouserMode:deuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:userMode:]uuserMode:serMode:userMode:, userMode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMode:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouserususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserMode:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userMode:useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserMode:e:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserMode:e:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserMode:serMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserMode:seususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserMode:de:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserMode:Mode:ode:userMode:useruserMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserMode::Mode:e:userMode:ode:>forceuseruserModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerMode:erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserMode::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseuserMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluserMode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],userMode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, 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userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerMode:erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:Mode:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	userMode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruserMode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::MouseruserMode:Mode:de:Mode:Mode:userMuseruseruserMode:Mode:Mode:ode:useruseuseuseruseruseruserMode:Mode:Mode:Mode:rMode:rModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:MuseruseruserMode:Mode:Mode:ode:userModeususeruseruseruserMode:Mode:Mode:Mode:eruserMode:MouseruseruserMode:Mode:Mode:de::useruserModuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:userMuseruseruserMode:Mode:Mode:oduserMode:e:useruuseruseruserMode:Mode:Mode:serMode:ModeususeruseruseruserMode:Mode:Mode:Mode:euseruserModeuseruseruserMode:Mode:Mode::Mode:ruserMode:MouseruseruserMode:Mode:Mode:de::userMode:uuseruseruseruserMode:Mode:Mode:Mode:seruserMode:MuseruseruserMode:Mode:Mode:oduseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:e:uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:seruseruserMode::MuseruseruserMode:Mode:Mode:ode:MouseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMouseruseruserMode:Mode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useruuserModeuseruserMode:Mode::serMode:ModeuserModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususerMode:erMode:usuuseruserMode:Mode:serMode:erModeuseuserMode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuserMode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuserMode:suserMode:useruserMode:Mode:eruuseuserMode:rMuserMode:oduserModeuseruserMode:Mode::e:seuserMode:rMouserMode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:Mode:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::euuseruserMode:Mode:serMode::Mode::[iuseruserMode:Mode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruserMode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserModuseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:Mode:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:Mode:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:Mode::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerMode:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeuseruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::Mode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuserModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMode::[0]userModeuseruseruserMode:Mode:Mode::);
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5userMode:7.3*userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:oduserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouserMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuserMode:oduserMode:e:uususerMode:erMouseruserMode:ModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMouserMode:deuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:userMode:]uuserMode:serMode:userMode:, userMode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMode:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouserususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:userModuserModeuserMode::uuserMode:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouserMode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMode:e:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userMode:useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserMode:e:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserMode:e:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserMode:serMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserMode:seususerMode:erMode:rMode:: rt-ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserMode:de:tuseruseuserMode:rMode:Mode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserMode:Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserMode::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerMode:erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:Mode:Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususerMode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouserMode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 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rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- 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userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerMode:erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t 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useruserModeuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruserMode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuserMode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruserMode:Mode:ode:useruseruserususeruserMode:Mode:erModeuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode::MouseruseruserMode:Mode:Mode:de:Mode:Mode:userMuseruseruserMode:Mode:Mode:ode:useruseuseuseruseruseruserMode:Mode:Mode:Mode:rMode:rModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:MuseruseruserMode:Mode:Mode:ode:userModeususeruseruseruserMode:Mode:Mode:Mode:eruserMode:MouseruseruserMode:Mode:Mode:de::useruserModuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:userMuseruseruserMode:Mode:Mode:oduserMode:e:useruuseruseruserMode:Mode:Mode:serMode:ModeususeruseruseruserMode:Mode:Mode:Mode:euseruserModeuseruseruserMode:Mode:Mode::Mode:ruserMode:MouseruseruserMode:Mode:Mode:de::userMode:uuseruseruseruserMode:Mode:Mode:Mode:seruserMode:MuseruseruserMode:Mode:Mode:oduseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:e:uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:seruseruserMode::MuseruseruserMode:Mode:Mode:ode:MouseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMouseruseruserMode:Mode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- 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userMuseruuserMode:serMode:Mode:ouserModuserMode:euseruserMode:Mode::de:useruseuususerMode:erMode:serususerMode:eruserModeuseruserMode:Mode::Mode:Mode:useuserMode:rMouserMode:de:rMode:Mode:uusususeruserMode:Mode:erMode::e:cpp:useuserMode:rMode:	rt-useuserModuserModeuseruserMode:Mode::e:rMoususerMode:erModeuserMode::de:useuserModeuserModuseruserMode:ModeuserMode::e::rMode:ususeuserMode:rMode:eruserususerModeuseruseruserMode:Mode:Mode::erMouseruserMuserMode:ouserMode:de:ModeuseuuserMode:suseruserMode:Mode:erMode:rMode::userMode:dususeruserMuserMode:oduserModeuseruserMode:Mode::e:Mode:erModeuserMode::e:userMode:ModuseruserMode:de:useruserMode:Mode:(1) && (rt->ususeuserMode:rMode:erEusuuserModeuserModeuseruserMode:Mode:::serModuserMode:e:erMouserMode:deuserMode::xit !=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:userMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: 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5userMode:7.3*userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMode:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuserMode:oduserMode:e:uususerMode:erMouseruserMode:ModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMouserMode:deuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:userMode:]uuserMode:serMode:userMode:, userMode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMode:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserMode:seususerMode:erMode:userMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouserususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouserMode:de:>tau[uuserModuserMode:euserModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:uuserMode:serModuserModeuserMode::uuserMode:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouseruserMode:Mode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMode:e:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userMode:useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserMode:e:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserMode:e:uuserMode:serMode:euserMuserMode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserMode:serMode:		userMode:		userMode:rt->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserMode:seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserMode:de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserMode:Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserMode::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerMode:erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususerMode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 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rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- 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%d\nuuserMode:serususeuserMode:ususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserModeuserMode::userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:eruserMode:ModususerMode:userMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMouserMode:de:ruseuserModuserMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == 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useruserModeuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuserMode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuserMode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:ModuseuseruseruserMode:Mode:Mode:rMode:e:userMuseruseruserMode:Mode:Mode:ode:useruseruserususeruseruserMode:Mode:Mode:erModeuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode::MouseruseruserMode:Mode:Mode:de:Mode:Mode:userMuseruseruserMode:Mode:Mode:ode:useruseuseuseruseruseruserMode:Mode:Mode:Mode:rMode:rModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:MuseruseruserMode:Mode:Mode:ode:userModeususeruseruseruserMode:Mode:Mode:Mode:eruserMode:MouseruseruserMode:Mode:Mode:de::useruserModuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:userMuseruseruserMode:Mode:Mode:oduserMode:e:useruuseruseruserMode:Mode:Mode:serMode:ModeususeruseruseruserMode:Mode:Mode:Mode:euseruserModeuseruseruserMode:Mode:Mode::Mode:ruserMode:MouseruseruserMode:Mode:Mode:de::userMode:uuseruseruseruserMode:Mode:Mode:Mode:seruserMode:MuseruseruserMode:Mode:Mode:oduseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:e:uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:seruseruserMode::MuseruseruserMode:Mode:Mode:ode:MouseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMouseruseruserMode:Mode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMode:rModususeruserMode:Mode:erMode:e:ModeuuserMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- 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5userMode:7.3*userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMode:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuserMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuserMode:oduserMode:e:uususerMode:erMouseruserMode:ModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMouserMode:deuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruserMode:ususerMuserMode:ode:userModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:userMode:]uuserMode:serMode:userMode:, userMode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMode:userMouserMode:de::userMode:serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMode:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserMode:userMode:seususerMode:erMode:userMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouserususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouseruserMode:Mode:de:>tau[uuserModuserMode:euserModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:uuserMode:serModuserModeuserMode::uuserMode:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouseruserMode:Mode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMode:e:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userMode:useuserMode:userMode:e:uuserMode:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserMode:e:de:useuserMode:rMode:useruseruserModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserMode:e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserMode:serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserMode:seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserMode:de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserMode:Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserMode::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerMode:erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserMode::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModuseruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		userMode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuserMode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuserMode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 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rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- 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%d\nuuserMode:serususeuserMode:ususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserModeuserMode::userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:eruserMode:ModususerMode:userMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMouserMode:de:ruseuserModuserMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduserMode:,0) == 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userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerMode:erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeuserMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uuseruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::Mode:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususerMode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuserMode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruserMode:Mode:Mode:serMode:useruuseruserMode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:ModuseuseruseruseruserMode:Mode:Mode:Mode:rMode:e:userMuseruseruserMode:Mode:Mode:ode:useruseruserususeruseruserMode:Mode:Mode:erModeuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode::MouseruseruserMode:Mode:Mode:de:Mode:Mode:userMuseruseruserMode:Mode:Mode:ode:useruseuseuseruseruseruserMode:Mode:Mode:Mode:rMode:rModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:MuseruseruserMode:Mode:Mode:ode:userModeususeruseruseruserMode:Mode:Mode:Mode:eruserMode:MouseruseruserMode:Mode:Mode:de::useruserModuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:userMuseruseruserMode:Mode:Mode:oduserMode:e:useruuseruseruserMode:Mode:Mode:serMode:ModeususeruseruseruserMode:Mode:Mode:Mode:euseruserModeuseruseruserMode:Mode:Mode::Mode:ruserMode:MouseruseruserMode:Mode:Mode:de::userMode:uuseruseruseruserMode:Mode:Mode:Mode:seruserMode:MuseruseruserMode:Mode:Mode:oduseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:e:uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:seruseruserMode::MuseruseruserMode:Mode:Mode:ode:MouseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMouseruseruserMode:Mode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuserususeuseruseruserMode:Mode:Mode:ruseruserMode:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuserMode:euserMode:useruserMode:Mode::ModususerMode:eruserMode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:Mode:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:Mode:suserMode:useruserMode:Mode:eruuseuserMode:rMuseruserMode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:Mode:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::euuseruserMode:Mode:serMode::Mode::[iuseruserMode:Mode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruserMode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserModuseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:Mode:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:Mode:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:Mode::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerMode:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeuseruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::Mode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuserModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMode::[0]userModeuseruseruserMode:Mode:Mode::);
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userModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:usususerMode:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuserMode:seruserMouserMode:duuserMode:seruserMode:ModeuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouseuserMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::euserMode::q[userMode:1]userMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserMode:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serMuserMouserModuuserMode:seuserMode:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuserMode:oduserMode:e:uususerMode:erMouseruserMode:ModuserMode:e:de:serMouserMode:de:useruserMode:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMouserMode:deuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserMode:serMode:ususerMuserMode:ode:userModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:userMode:]uuserMode:serMode:userMode:, userMode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMode:ode:userMouserMode:de::userMode:serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMode:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserMode:userMode:seususerMode:erMode:userMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouserususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouseruserMode:Mode:de:>tau[uuserModuserMode:euserModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:uuserMode:serModuserModeuserMode::uuserMode:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouseruserMode:Mode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userMode:ouserMode:de:Mode:uuserMode:seruseruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMode:e:useuserMode:rMouuserMode:serMode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userMode:useuserMode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserMode:e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserMode:e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserMode:serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserMode:seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserMode:de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserMode:Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserMode::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModuseruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:Mode:Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruserMode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouserMode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] 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userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruseuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruserMode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouserMode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuserMode:rModeuserMode::sususerMode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruserMode:Mode::Mode:e:ModeuserususeruserMode:Mode:erMode:Mode::uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:ModuseuseruseruseruserMode:Mode:Mode:Mode:rMode:e:userMuseruseruserMode:Mode:Mode:ode:useruseruserususeruseruserMode:Mode:Mode:erModeuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode::MouseruseruserMode:Mode:Mode:de:Mode:Mode:userMuseruseruserMode:Mode:Mode:ode:useruseuseuseruseruseruserMode:Mode:Mode:Mode:rMode:rModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:MuseruseruserMode:Mode:Mode:ode:userModeususeruseruseruserMode:Mode:Mode:Mode:eruserMode:MouseruseruserMode:Mode:Mode:de::useruserModuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:userMuseruseruserMode:Mode:Mode:oduserMode:e:useruuseruseruserMode:Mode:Mode:serMode:ModeususeruseruseruserMode:Mode:Mode:Mode:euseruserModeuseruseruserMode:Mode:Mode::Mode:ruserMode:MouseruseruserMode:Mode:Mode:de::userMode:uuseruseruseruserMode:Mode:Mode:Mode:seruserMode:MuseruseruserMode:Mode:Mode:oduseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:e:uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:seruseruserMode::MuseruseruserMode:Mode:Mode:ode:MouseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMouseruseruserMode:Mode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeususerModeuseruserMode:Mode::erMode::ModeuuserMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuserMode:e:e:serMouuseruserMode:Mode:serMouserMode:dususerMode:erMode:e:duseruserMode:Mode:e:useususerMode:euserMode:rMode:rModuseruserMode:Mode:e:userModeuseruseuserMode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:eruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- 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useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMode:->uuserModeuserMode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruserMode:Mode:ModuserMode:ususerMode:erMode:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::uuserMode:seruuserMode:userMode:userMode:serModuserMode:e:useuserMode:rMode:Mode:userususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMouserMode:de:seruserMode:Mode::MuserMode:oduserModuserMode:e:userMode:e:userMode:useuserMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserModuserMode:e::MuseuserMuserMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModeuserMode::es[3],userMode:useruserModeuserMode::Mode: userModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:usususerMode:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuserMode:seruserMouserMode:duuserMode:seruserMode:ModeuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouseuserMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserMode::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::euserMode::q[userMode:1]userMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:eruserMode:userModuserMode:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serMuserMouserModuuserMode:seuserModuserMode:e:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuserMode:oduserMode:e:uususerMode:erMouseruserMode:ModuserMode:e:de:serMouserMode:de:useruserMouserMode:de:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMouserMode:deuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserMode:serMode:ususerMuserMode:ode:userModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:userMode:]uuserMode:serMode:userMode:, userMode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMode:ode:userMouserMode:de::userMode:serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMode:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserMode:userMode:seususerMode:erMode:userMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouserususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouseruserMode:Mode:de:>tau[uuserModuserMode:euserModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:uuserMode:serModuserModeuserMode::uuserMode:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouseruserMode:Mode:de:uuserModuserMode:e:serModuserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userMode:ouserMode:de:Mode:uuserMode:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMode:e:useuserMode:rMouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userMode:useuserMode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserMode:e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserMode:e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserMode:serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserMode:seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserMode:de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuseruseruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:useuseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuserMode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, 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rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:ModeuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruserMode:Mode:euseuserMode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruserMode:Mode:serModuserModuserMode:euseruserMode:ModeuserMode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruserMode:Mode:max*userModuserModuseruserMode:Mode:e:e:useruserMouseruseruserMode:Mode:Mode:duseruserModeuseruseruserMode:Mode:Mode::Mode:e:ModeuserususeruseruserMode:Mode:Mode:erMode:Mode::uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:ModuseuseruseruseruserMode:Mode:Mode:Mode:rMode:e:userMuseruseruserMode:Mode:Mode:ode:useruseruserususeruseruserMode:Mode:Mode:erModeuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode::MouseruseruserMode:Mode:Mode:de:Mode:Mode:userMuseruseruserMode:Mode:Mode:ode:useruseuseuseruseruseruserMode:Mode:Mode:Mode:rMode:rModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:MuseruseruserMode:Mode:Mode:ode:userModeususeruseruseruserMode:Mode:Mode:Mode:eruserMode:MouseruseruserMode:Mode:Mode:de::useruserModuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:userMuseruseruserMode:Mode:Mode:oduserMode:e:useruuseruseruserMode:Mode:Mode:serMode:ModeususeruseruseruserMode:Mode:Mode:Mode:euseruserModeuseruseruserMode:Mode:Mode::Mode:ruserMode:MouseruseruserMode:Mode:Mode:de::userMode:uuseruseruseruserMode:Mode:Mode:Mode:seruserMode:MuseruseruserMode:Mode:Mode:oduseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:e:uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:seruseruserMode::MuseruseruserMode:Mode:Mode:ode:MouseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMouseruseruserMode:Mode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::userMode:, rtuseruserMode:Mode:-userMode:>tf[ususerModuseruseruserMode:Mode:Mode:e:erususeruserMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = 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57.3*rt->uuserMode:seruserMode:ModeususerMode:erMode::q[4uuserMode:seruserMode:Mode:]useuserMode:rMouserMode:deuserModususerMode:erMuserMode:ode:e::ususerMode:erMode:uuserMouserMode:de:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMouserMode:de:erMouserMode:deuserMode::e:userMode:useuserMode:rMouserModuserMouserModuserMode:e:de:e:de:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:userususerMode:euseuserMode:rMouserMode:de:rMuseruserModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerModuserMode:e:erMode:Mode:userMode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::ModuserMode:e:userMode:erMouserMode:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:serMode::ususerMode:erModuserModeuuserMode:serMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruuserMode:serMode:Mode:->q_useruserMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:oduserMode:e:Mode:[ususerMode:erMode:ususerMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuserMode:ruseruserMode:Mode:ususerMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMususerMode:euserMode:rMode:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMode:->uuserModeuserMode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruserMode:Mode:ModuserMode:ususerMode:erMode:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::uuserMode:seruuserMode:userMode:userMode:serModuserMode:e:useuserMode:rMode:Mode:userususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMouserMode:de:seruserMode:Mode::MuserMode:oduserModuserMode:e:userMode:e:userMode:useuserMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserModuserMode:e::MuseuserMuserMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModeuserMode::es[3],userMode:useruserModeuserMode::Mode: userModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuserMuserMode:ode:usususerMode:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuserMode:seruserMouserMode:duuserMode:seruserMode:ModeuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouseuserMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserModuserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::euserMode::q[userMode:1]userMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:Mode:3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:userMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:eruserMode:userModuserMouserMode:de:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serMuserMouserModuuserMode:seuserModuserMode:e:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuserMode:oduserMode:e:uususerMode:erMouseruserMode:ModuserMode:e:de:serMouserMode:de:useruserMouserMode:de:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMouserMode:deuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserMode:serMode:ususerMuserMode:ode:userModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:userMode:]uuserMode:serMode:userMode:, userMode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMode:ode:userMouserMode:de::userMode:serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMode:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserMode:userMode:seususerMode:erMode:userMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouserususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouseruserMode:Mode:de:>tau[uuserModuserMode:euserModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:uuserMode:serModuserModeuserMode::uuserMouserMode:de:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouseruserMode:Mode:de:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userMode:ouserMode:de:Mode:uuserMode:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMode:e:useuserMode:rMouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userMode:useuserMode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserMode:e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserMode:e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserMode:serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuseruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:MouserMode:deuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuserMode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= 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rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserModeuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeususerMode:eruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:MouserMode:deuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserMode:ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuserMode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, 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userMouseruserMode:Mode:de:= 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rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouserMode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:eruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- 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uuserMode:seuseruserMode:uuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:oduserMode:e:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruseuserMode:rMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userMode::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserModuserMode:e:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:userMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserModeuserMode::eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMuuserMode:suserMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserModuserMode:e:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MuserMode:ouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduuserMode:serMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuserususerMode:euserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserModuserMode:e:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeuserMode:ruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMouserMode:de:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuseuserMode:rMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserModuserMode:e:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMouserMode:de:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserModeuserMode::rMode:euserMode::userMouserModeuserMode::de:;	userMode:// ususerMode:eruserMode:MuserMode:ode:ruserModuserMode:uuserMode:suserMode:erMode:e:t->xtuserModuserMode:e:iuserModuserMode:e:muserMode:e userModeuserMode::iuserModeuserMode::userMode:s userMode:usuuserModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserMode:userMuserMode:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rModeuserMode:uuserModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserMode:e:Mode:deuuserMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:MuserMode:oduserModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserModuserMode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userMode:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserModeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] =userMode:usususeruserMode:Mode:erModuserMuserModuserMode:e:ouserMode:de:userMode:e:erususeruserMode:Mode:eruserMode:ModususerMode:erMode:euserMode::useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMode:seruserModeuserMode::Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:e:oduserMode:ususerMode:euserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMuserMode:oduserMuserMode:ode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserMode:rMode:MuserMuserMode:oduserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:e:userMode:useuserMode:rMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuseuserMode:rMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:odeuserMode::userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserModuserMode:e:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuserMode:rMode:deuserMode:::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMode::puuserModeuserMode::serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	ruserMode:tuserMode:-uususerMode:euserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMususerMode:erMode:ode:rt-userMode:>pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserModuserMode:e:rMode:	// rtuserMode:->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:houserMode:ususerMode:eruuserMode:serMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erMuserMode:odeuserModeuseuserMode:rMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMode:oduserMode:euserMode::s tuserMode:userMouserMode:uuserMode:serMode:de:hususerModuseruserMode:Mode:e:euserMode:rMouuseuserModuserMode:e:rMode:serModeuserMode::userMode:deuuserMouserModuserMode:e:deuuseuserMode:rMode:serMode:userMode::serMode::euserMode:useruserMode:userMode:Mode: ususerMode:erMode:uuserMode:userMouserModeuserMode::de:useuserMode:rMode:serMuseuseruserMode:Mode:useuserMode:rMouserMuserMode:ode:de:rMode:ouserMode:duserMode:e:userMode:seuserMode:rvuserModeuserModeuserMode:::o loususerMode:erMode:userModuserMode:e:ouserModuserMode:e:p userMode:cuserMode:ounuserMuserMode:ouserModuserMode:e:de:t userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuuserMode:serususeuserMode:ususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserModeuserMode::userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:userMode:[1]ususerMode:eruserMode:ModususerMode:userMode:euserMode:rMode:e:, userMode:rususerMode:erMode:iususerMode:euserMouserMode:de:ruseuserModuserMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduseuserMode:rMode:,0) == 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iuserMode:ususerMode:uuserMode:serModeususerMuserModeuserMode::oduserMode:e:erMode::eruserMode:MouserMode:useuseruserModuserMode:e:MuserModuserMode:e:oduserMode:e:userModuseuserMode:rMode:euserMode::rMode:userMode:de:suserModuseuserMode:ruseuserModuserModeuserMode::euserMuserMode:userMode:ouserMuserMode:ode:de:uuserMode:seuserMode:rMouserMode:de::userMode:rMuuserMode:seruserMode:MuserMouserMode:de:ode:ode:MoususerModeuserMode::erMode:de:useuserMode:rMode:userMode:e: the servuserMode:o userModuserMode:e:louserModeuserMode::ouserMode:puserMode: couuserMode:ususerMuserMode:ode:erMouserMode:deuserMode:userMode::suserMode:erMode:unuseuserMode:rMode:tuseuseruserMode:Mode:rMode:useuserModuserMode:e:userMode:rususerMode:erMode:ModuuserMode:seruserMode:ModuserMode:e:userMode:e: fuuserMode:serModuserMode:e:rususeuserModuserMode:e:rMode:userModeuseruseuserMode:rMode:Mode::eruserMode:Mode:om userMouserMode:de:userMode:rt-userMouserMode:de:>time, 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rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:rMode::euserModeuseruserMode:Mode:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMode:deuseuserModuseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserMode:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode::MuserMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserMode:de:::Mode:orguseruserModuserMode:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMususerMode:erMode:ode:euserMode::.cpp:						userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:suserMode:erMouseuserMode:rMode:duserModuserMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::seruserModeuserMode::uuserModuserMode:e:serModuserModeuserMode::e:Mode:ode:xee[userMuseruserMode:Mode:oduserMode:e:1], 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57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMoususerMode:erMode:de:.3*ususeruserMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMode:userMode:userMouuserMode:serModeuserModeuseruserMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[userMode:ususerMouserModuserMode:e:de:euuserMode:serMode:rMuserMuseruserMode:Mode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:userMode:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruserMode:Mode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruserMode:Mode:erMode:userMode::deuserMode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruserMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	57userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruserMuserMode:ode:ModeuserMode::MuserMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuserMode:seruserMode:MuserMode:odeuserMode::[3]useuserMode:rMode:,userMode: 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57.3*rt->uuserMode:seruserMode:ModeususerMode:erMode::q[4uuserMode:seruserMode:Mode:]useuserMode:rMouserMode:deuserModususerMode:erMuserMode:ode:e::ususerMode:erMode:uuserMouserMode:de:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMouserMode:de:erMouserMode:deuserMode::e:userMode:useuserMode:rMouserModuserMouserModuserMode:e:de:e:de:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:userususerMode:euseuserMode:rMouserMode:de:rMuseruserModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerModuserMode:e:erMode:Mode:userMode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::ModuserMode:e:userMode:erMouserModuserMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:serMode::ususerMode:erModuserModeuuserMode:serMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruuserMode:serMode:Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:oduserMode:e:Mode:[ususerMode:erMode:ususerMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuserMode:ruseruserMode:Mode:ususerMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMususerMode:euserMode:rMode:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMode:->uuserModeuserMode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruserMode:Mode:ModuserMode:ususerMode:erMode:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::uuserMode:seruuserMode:userMode:userMode:serModuserMode:e:useuserMode:rMode:Mode:userususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:rMode:serususerModuserMode:e:userMode:erMode:ModeuuserMouserMode:de:seruserMode:Mode::MuserMode:oduserModuserMode:e:userMode:e:userMode:useuserMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuserMode:e:deuserModuserMode:e::MuseuserMuserMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModeuserMode::es[3],userMode:useruserModeuserMode::Mode: userModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuserMode:rMuserMode:ode:usususerMode:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuserMode:seruserMouserMode:duuserMode:seruserMode:ModeuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:userMode:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouseuserMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserModuserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::euserMode::q[userMode:1]userMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:Mode:7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:ModeuserMode::3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:userMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:userMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:eruserMode:userModuserMouserMode:de:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serMuserMouserModuuserMode:seuserModuserMode:e:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuserMode:oduserMode:e:uususerMode:erMouseruserMode:ModuserMode:e:de:serMouserMode:de:useruserMouserMode:de:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMouserMode:deuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserMode:serMode:ususerMuserMode:ode:userModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:userMode:]uuserMode:serMode:userMode:, userMode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMode:ode:userMouserMode:de::userMode:serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMode:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserMode:userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouserususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouseruserMode:Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:uuserMode:serModuserModeuserMode::uuserMouserMode:de:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouseruserMode:Mode:de:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userMode:ouserMode:de:Mode:uuserMode:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMode:e:useuserMode:rMouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userMode:useuserMode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserMode:e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModeuserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serMode:rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserModeuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouserMode:deuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeususerMode:eruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:MouserMode:deuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserModeuserMode::Mode:suserMode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuserMode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:de:MouserMode:duseuserMode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::(duserMode:quseruseruserMode:Mode:Mode:max*userModuserModuseruseruserMode:Mode:Mode:e:e:useruserMouseruseruseruserMode:Mode:Mode:Mode:duseruserModeuseruseruserMode:Mode:Mode::Mode:e:ModeuserususeruseruserMode:Mode:Mode:erMode:Mode::uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:ModuseuseruseruseruserMode:Mode:Mode:Mode:rMode:e:userMuseruseruserMode:Mode:Mode:ode:useruseruserususeruseruserMode:Mode:Mode:erModeuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode::MouseruseruserMode:Mode:Mode:de:Mode:Mode:userMuseruseruserMode:Mode:Mode:ode:useruseuseuseruseruseruserMode:Mode:Mode:Mode:rMode:rModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:MuseruseruserMode:Mode:Mode:ode:userModeususeruseruseruserMode:Mode:Mode:Mode:eruserMode:MouseruseruserMode:Mode:Mode:de::useruserModuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:userMuseruseruserMode:Mode:Mode:oduserMode:e:useruuseruseruserMode:Mode:Mode:serMode:ModeususeruseruseruserMode:Mode:Mode:Mode:euseruserModeuseruseruserMode:Mode:Mode::Mode:ruserMode:MouseruseruserMode:Mode:Mode:de::userMode:uuseruseruseruserMode:Mode:Mode:Mode:seruserMode:MuseruseruserMode:Mode:Mode:oduseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:e:uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:seruseruserMode::MuseruseruserMode:Mode:Mode:ode:MouseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMouseruseruserMode:Mode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::Mode:deuserMuseruserMode:Mode:odeuserMode:::useuserMode:rMode:, rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruserMode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:eruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:Mode:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:Mode:suserMode:useruserMode:Mode:eruuseuserMode:rMuseruserMode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:Mode:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::euuseruserMode:Mode:serMode::Mode::[iuseruserMode:Mode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruserMode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserModuseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:Mode:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:Mode:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:Mode::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerMode:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeuseruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::Mode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuserModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMode::[0]userModeuseruseruserMode:Mode:Mode::);
userMuseruuserMode:serMode:Mode:ouserModuserMode:euseruserMode:Mode::de:useruseuususerMode:erMode:serususerMode:eruserModeuseruserMode:Mode::MouserMode:de:Mode:useuserMode:rMouserMode:de:rMode:Mode:uusususeruserModeuserMode::Mode:erMode::e:cpp:useuserMode:rMode:	rt-useuserModuserModeuseuserMode:ruserMode:Mode::e:rMoususerMode:erModeuserMode::de:useuserModeuuserMode:serModuseruserMode:ModeuserMode::e::rMode:ususeuserMode:rMode:euserMode:ruserususerModeuseruseruserMode:Mode:Mode::erMouseruserMuserModuserMode:e:ouserMode:de:ModeuseuuserMode:suseruserMode:Mode:erMode:rModeuserMode:::userMode:dususeruserMuserMode:oduserModeuseruserMode:Mode::e:userMode:Mode:erModeuserMode::e:userMode:ModuseruserMode:de:useruserModeuserMode::Mode:(1) && (rt->ususeuserMode:rMode:erEusuuserModeuserModeuseuserMode:ruserMode:Mode:::serModuserMode:e:erMouserMode:deuserMode::xit userMode:!=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:userMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: 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uuserMode:seuseruserMode:uuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:oduserMode:e:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruseuserMode:rMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserMode:duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserModuserMode:e:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:userMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserModeuserMode::eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMuuserMode:suserMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserModuserMode:e:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MuserMode:ouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduuserMode:serMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, 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rtuserMode:->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:houserMode:ususerMode:eruuserMode:serMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erMuserMode:odeuserModeuseuserMode:rMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMode:oduserMode:euserMode::s tuserMode:userMouserMode:uuserMode:serMode:de:hususerModuseruserMode:Mode:e:euserMode:rMouuseuserModuserMode:e:rMode:serModeuserMode::userMode:deuuserMouserModuserMode:e:deuuseuserMode:rMode:serMode:userMode::serMode::euserMode:useruserMode:userMode:Mode: ususerMode:erMode:uuserMode:userMouserModeuserMode::de:useuserMode:rMode:serMuseuseruserMode:Mode:useuserMode:rMouserMuserMode:ode:de:rMode:ouserMode:duserMode:e:userMode:seuserMode:rvuserModeuserModeuserMode:::o loususerMode:erMode:userModuserMode:e:ouserModuserMode:e:p userMode:cuserMode:ounuserMuserMode:ouserModuserMode:e:de:t userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode: 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rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:userMode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserModeuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouserMode:deuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeususerMode:eruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:MouserMode:deuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserModeuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuserMode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuserMode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, 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userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruserMode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::(duserMode:quseruseruserMode:Mode:Mode:max*userModuserModuseruseruserMode:Mode:Mode:e:e:useruserMouseruseruseruserMode:Mode:Mode:Mode:duseruserModeuseruseruserMode:Mode:Mode::Mode:e:ModeuserususeruseruserMode:Mode:Mode:erMode:Mode::uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:ModuseuseruseruseruserMode:Mode:Mode:Mode:rMode:e:userMuseruseruserMode:Mode:Mode:ode:useruseruserususeruseruserMode:Mode:Mode:erModeuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode::MouseruseruserMode:Mode:Mode:de:Mode:Mode:userMuseruseruserMode:Mode:Mode:ode:useruseuseuseruseruseruserMode:Mode:Mode:Mode:rMode:rModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:MuseruseruserMode:Mode:Mode:ode:userModeususeruseruseruserMode:Mode:Mode:Mode:eruserMode:MouseruseruserMode:Mode:Mode:de::useruserModuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:userMuseruseruserMode:Mode:Mode:oduserMode:e:useruuseruseruserMode:Mode:Mode:serMode:ModeususeruseruseruserMode:Mode:Mode:Mode:euseruserModeuseruseruserMode:Mode:Mode::Mode:ruserMode:MouseruseruserMode:Mode:Mode:de::userMode:uuseruseruseruserMode:Mode:Mode:Mode:seruserMode:MuseruseruserMode:Mode:Mode:oduseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:e:uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:seruseruserMode::MuseruseruserMode:Mode:Mode:ode:MouseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMouseruseruserMode:Mode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserMode:ouseruseuseruserMode:Mode:rModeuserMode::MouserMode:de:deuserMuseruserMode:Mode:odeuserMode:::useuserMode:rMode:, rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouserMode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:eruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:Mode:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:Mode:suserMode:useruserMode:Mode:eruuseuserMode:rMuseruserMode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:Mode:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::euuseruserMode:Mode:serMode::Mode::[iuseruserMode:Mode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruserMode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserModuseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:Mode:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:Mode:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:Mode::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerMode:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeuseruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::Mode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuserModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMode::[0]userModeuseruseruserMode:Mode:Mode::);
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userMode:!=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:userMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userModuserMode:e:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:euserMode:ususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:ModuserMode:e:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserModeuserMode::Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruuserMode:serModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruususerMode:erMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserModuserMode:e:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMouserMode:de:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruseuserMode:rMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserModeuserMode::rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruserMode:uuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:oduserMode:e:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruseuserMode:rMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserMode::ModeuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuserMode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserModuserMode:e:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:userMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserModeuserMode::eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMuuserMode:suserMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserModuserMode:e:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MuserMode:ouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduuserMode:serMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuserususerMode:euserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserModuserMode:e:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeuserMode:ruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMouserMode:de:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuseuserMode:rMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserModuserMode:e:-useuserMode:rMode:>xtimeuuseruserMode:userMode:ModeuuserMode:ususerMouserMode:de:erMouseruseruserMode:Mode:ModuserMode:e:de:serMode::serModuseuserModeuserMode::rMode:euserMode::useruserMode:MouserModeuserMode::de:;	userMode:// ususerMode:eruserMode:MuserMode:ode:ruserModuserMode:userMode:uuserMode:suserMode:erMode:e:t->xtuserModuserMode:e:iuserModuserMode:e:muserMode:e userModeuserMode::iuserModeuserMode::userMode:s userMode:usuuserModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserMode:userMuserMode:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rModeuserMode:uuserModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserMode:e:Mode:deuuserMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:MuserMode:oduserModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserModuserMode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userMode:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserModeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] =userMode:usususeruserMode:Mode:erModuserMuserModuserMode:e:ouserMode:de:userMode:e:erususeruserMode:Mode:eruserMode:ModususerMode:erMode:euserMode::useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMode:seruserModeuserMode::Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:e:oduserMode:ususerMode:euserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMuserMode:oduserMuserMode:ode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserMode:rMode:MuserMuserMode:oduserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:e:userMode:useuserMode:rMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuseuserMode:rMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouserMode:de:odeuserMode::userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:ususeruseruserModuserMode:e:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuseuserMode:rMode:rMode:deuserMode:::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMouserMode:de::puuserModeuserMode::serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	ruserMode:tuserMode:-uususerMode:euserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMususerMode:erMode:ode:rt-userMode:>pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserModuserMode:e:rMode:	// rtuserMode:->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:houserMode:ususerMode:eruuserMode:serMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erMuserMode:odeuserModeuseuserMode:rMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMode:oduserMode:euserMode::s tuserMode:userMouserMode:uuserMode:serMode:de:hususerModuseruserMode:Mode:e:euserMode:rMouuseuserModuserMode:e:rMode:serModeuserMode::userMode:deuuserMouserModuserMode:e:deuuseuserMode:rMode:serMode:userMode::serMode::euserMode:useruserMode:userMode:Mode: ususerMode:erMode:uuserMode:userMouserModeuserMode::de:useuserMode:rMode:serMuseuseruserMode:Mode:useuserMode:rMouserMuserMode:ode:de:rMode:ouserMode:duserMode:e:userMode:seuserMode:rvuserModeuserModeuserMode:::o loususerMode:erMode:userModuserMode:e:ouserModuserMode:e:p userMode:cuserMode:ounuserMuserMode:ouserModuserMode:e:de:t userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuuserMode:serususeuserMode:ususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserModeuserMode::userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:Mode::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:ususerMode:erMode:[1]ususerMode:eruserMode:ModususerMode:userMode:euserMode:rMode:e:, userMode:rususerMode:erMuserMode:ode:iususerMode:euserMouserMode:de:ruseuserModuserMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduseuserMode:rMode:,0) == uususerModuserMode:e:erMode:serMouserMode:de:useruseruserModeuserMode::Mode:ModuserMususerMode:eruseruserMode:userModeuserMode::MuserMode:odeuserMode::Mode:ode:useruserModuserModuserMode:euserMouserMode:de::e:MouserModuserModeuserMode::e:duseuserusuuserMode:serModuserMode:e:uuserMode:er_org.useuserModuserMode:e:userMode:ruserMode:MouserMode:duserMode:e:cuuserMode:seruuseuserMode:rMode:seuserMode:rMode:Mode:userMode:ppuserMode::			// rt->uuserMode:serModeuseuseruserMode:Mode:rMode::tiuserMode:me userMouserMode:dususerMode:erMode:euseuserMode:rMouserMode:de::userMode:iuserMode:userMuserMode:ode:s userMode:userModeuserModuserMode:e::timuuserMode:useruseuserMode:rMode:Mode:seruserMode:Mode:e euuserMuserMode:oduserMode:e:seuserMouserMode:de:ruserMode:Mode:rt->huserMode:onduseuserModeuserMode::rusususerMode:erMode:euserMode:rMode:Mode:auserMode:userMode:_couserMode:unuserMode:t 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rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:rMode::euserModeuseruserMode:Mode:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMode:deuseuserModuseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserMode:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode::MuserMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserMode:de:::Mode:orguseruserModuserMode:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMususerMode:erMode:ode:euserMode::.cpp:						userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:suserMode:erMouseuserMode:rMode:duserModuserMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::seruserModeuserMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1], rt-uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:			usuuserModuserMode:e:suserMode:userMode:erMuserMode:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserMode:Mode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:ModeususeuseruserMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMoususerMode:erMode:de:.3*ususeruserMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMode:userMode:userMouuserMode:serModeuserModeuseruserMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[userMode:ususerMouserModuserMode:e:de:euuserMode:serMode:rMuserMuseruserMode:Mode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:userMode:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruserMode:Mode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruserMode:Mode:erMode:userMode::deuserMode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruserMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	57userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruserMuserMode:ode:ModeuserMode::MuserMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuserMode:seruserMode:MuserMode:odeuserMode::[3]useuserMode:rMode:,userMode: 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57.3*rt->uuserMode:seruserMode:ModeususerMode:erMode::q[4uuserMode:seruserMode:Mode:]useuserMode:rMouserMode:deuserModususerMode:erMuserMode:ode:e::ususerMode:erMode:uuserMouserMode:de:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMouserMode:de:erMouserMode:deuseruserMode:Mode::e:userMode:useuserMode:rMouserModuserMouserModuserMode:e:de:e:de:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerModuserMode:e:erMode:Mode:userMode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::ModuserMode:e:userMode:erMouserModuserMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:serMode::ususerMode:erModuserModeuuserMode:serMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruuserMode:serMode:Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:oduserMode:e:Mode:[ususerMode:erMode:ususerMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuserMode:ruseruserMode:Mode:ususerMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMususerMode:euserMode:rMode:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMode:->uuserModeuserMode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruserMode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruserMode:Mode:ModuserMode:ususerMode:erMode:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMode:ModeuserMode::uuserMode:seruuserMode:userMode:userMode:serModuserMode:e:useuserMode:rMode:Mode:userususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:de:seruserMode:Mode::MuserMode:oduserModuserMode:e:userMode:e:userMode:useuserMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserModuserMode:e::MuseuserMuserMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModeuserMode::es[3],userMode:useruserModeuserMode::Mode: userModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuserMode:rMuserMode:ode:usususerMode:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuserMode:seruserMouserMode:duuserMode:seruserMode:ModeuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:userMode:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouseuserMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserModuserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::euserMode::q[userMode:1]userMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:erModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModeuserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:ModeuserMode::3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:userMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:userMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:eruserMode:userModuserMouserMode:de:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serMuserMouserModuuserMode:seuserModuserMode:e:ruserMode:Mode:e:de:ouseuserMode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuserMode:oduserMode:e:uususerMode:erMouseruserMode:ModuserMode:e:de:serMouserMode:de:useruserMouserMode:de:ModeususerMode:erMuserMode:ode:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMouserMode:deuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserMode:serMode:ususerMuserMode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:userMode:]uuserMode:serMode:userMode:, userMode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMode:ode:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMode:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserMode:userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouserususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouseruserMode:Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:uuserMode:serModuserModeuserMode::uuserMouserMode:de:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouseruserMode:Mode:de:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userMode:ouserMode:de:Mode:uuserMode:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMode:e:useuserMode:rMouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuserMode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserMode::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModeuserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuseruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouserMode:deuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeususerMode:eruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:MouserMode:deuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserModeuserMode::ruseruserMode:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserModeuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:useruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruserMode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuserMode:e:goauserMode:useuuserMode:seruseruseuseruseruserMode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruserMode:Mode:Mode:serModeuserususeruserMode:Mode:erMode:Mode::)/useuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::(duserMode:quseruseruserMode:Mode:Mode:max*userModuserModuseruseruserMode:Mode:Mode:e:e:useruserMouseruseruseruserMode:Mode:Mode:Mode:duseruserModeuseruseruserMode:Mode:Mode::Mode:e:ModeuserususeruseruserMode:Mode:Mode:erMode:Mode::uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:ModuseuseruseruseruserMode:Mode:Mode:Mode:rMode:e:userMuseruseruserMode:Mode:Mode:ode:useruseruserususeruseruserMode:Mode:Mode:erModeuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode::MouseruseruserMode:Mode:Mode:de:Mode:Mode:userMuseruseruserMode:Mode:Mode:ode:useruseuseuseruseruseruserMode:Mode:Mode:Mode:rMode:rModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:MuseruseruserMode:Mode:Mode:ode:userModeususeruseruseruserMode:Mode:Mode:Mode:eruserMode:MouseruseruserMode:Mode:Mode:de::useruserModuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:userMuseruseruserMode:Mode:Mode:oduserMode:e:useruuseruseruserMode:Mode:Mode:serMode:ModeususeruseruseruserMode:Mode:Mode:Mode:euseruserModeuseruseruserMode:Mode:Mode::Mode:ruserMode:MouseruseruserMode:Mode:Mode:de::userMode:uuseruseruseruserMode:Mode:Mode:Mode:seruserMode:MuseruseruserMode:Mode:Mode:oduseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:e:uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:seruseruserMode::MuseruseruserMode:Mode:Mode:ode:MouseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMouseruseruserMode:Mode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuserMode:e:euuseruserMode:Mode:serMode:rMode:useruserMuseruseruserMode:Mode:Mode:ode:MuserModuserMode:e:ouseruseuseruserMode:Mode:rModeuserMode::MouserMode:de:deuserMuseruserMode:Mode:odeuserMode:::useuserMode:rMode:, rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuserMode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:eruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:Mode:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:Mode:suserMode:useruserMode:Mode:eruuseuserMode:rMuseruserMode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:Mode:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::euuseruserMode:Mode:serMode::Mode::[iuseruserMode:Mode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruserMode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserModuseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:Mode:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:Mode:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:Mode::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerMode:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeuseruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::Mode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuserModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMode::[0]userModeuseruseruserMode:Mode:Mode::);
userMuseruuserModuserMode:e:serMode:Mode:ouserModuserMode:euseruserMode:Mode::de:useruseuuserMode:ususerMode:erMode:serususerMode:eruserModeuseruserMode:Mode::MouserMode:de:Mode:useuserMode:rMouserMode:de:rMode:Mode:uusususeruserModeuserMode::Mode:erMode::e:cpp:useuserMode:rMode:	rt-useuserModuserModeuseuserMode:ruserMode:Mode::e:rMoususerMode:erModeuserMode::de:useuserModeuuserMode:serModuseruserMode:ModeuserMode::e::rMode:ususeuserMode:rMode:euserMode:ruserususerModeuseruseruserMode:Mode:Mode::erMouseruserMuserModuserMode:e:ouserMode:de:ModeuseuuserMode:suseruserMode:Mode:erMode:rModeuserMode:::userMode:dususeruserMuserMode:oduserModeuseruserMode:Mode::e:userMode:Mode:erModeuserMode::e:userMode:ModuseruserMode:de:useruserModeuserMode::Mode:(1) && (rt->ususeuserMode:rMode:erEusuuserModeuserModeuseuserMode:ruserMode:Mode:::serModuserMode:e:erMouserMode:deuserMode::xit userMode:!=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:userMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userModuserMode:e:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:euserMode:ususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:ModuserMode:e:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserModeuserMode::Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruuserMode:serModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruususerMode:erMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserModuserMode:e:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMouserMode:de:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruseuserMode:rMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserModeuserMode::rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruserMode:uuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:oduserMode:e:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruseuserMode:rMode:Mode:serModususeruserMode:Mode:erMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::ModeuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuserMode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserModuserMode:e:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:userMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserModeuserMode::eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMuuserMode:suserMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserModuserMode:e:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MuserMode:ouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduuserMode:serMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, 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userMode:usuuserModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserMode:userMuserMode:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rModeuserMode:uuserModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserMode:e:Mode:deuuserMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:MuserMode:oduserModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserModuserMode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userMode:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserModeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] 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rtuserMode:->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:houserMode:ususerMode:eruuserMode:serMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erMuserMode:odeuserModeuseuserMode:rMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMode:oduserMode:euserMode::s tuserMode:userMouserMode:uuserMode:serMode:de:hususerModuseruserMode:Mode:e:euserMode:rMouuseuserModuserMode:e:rMode:serModeuserMode::userMode:deuuserMouserModuserMode:e:deuuseuserMode:rMode:serMode:userMode::serMode::euserMode:useruserMode:userMode:Mode: ususerMode:erMode:uuserMode:userMouserModeuserMode::de:useuserMode:rMode:serMuseuseruserMode:Mode:useuserMode:rMouserMuserMode:ode:de:rMode:ouserMode:duserMode:e:userMode:seuserMode:rvuserModeuserModeuserMode:::o loususerMode:erMode:userModuserMode:e:ouserModuserMode:e:p userMode:cuserMode:ounuserMuserMode:ouserModuserMode:e:de:t userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode: 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rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serMode:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouserMode:deuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeususerMode:eruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:MouserMode:deuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserModeuserMode::Mode:Mode:rModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserModeuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserModeuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:Mode:rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususerMode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, 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userMouseruserMode:Mode:de:= 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rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouserMode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:eruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:Mode:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:Mode:suserMode:useruserMode:Mode:eruuseuserMode:rMuseruserMode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:Mode:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::euuseruserMode:Mode:serMode::Mode::[iuseruserMode:Mode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruserMode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserModuseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:Mode:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:Mode:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:Mode::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerMode:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeuseruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::Mode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuserModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::[0]userModeuseruseruserMode:Mode:Mode::);
userMuseruuserModuserMode:e:serMode:Mode:ouserModuserMode:euseruserMode:Mode::de:useruseuuserMode:ususerMode:erMode:serususerMode:eruserModeuseruserMode:Mode::MouserMode:de:Mode:useuserMode:rMouserMode:de:rMode:Mode:uusususeruserModeuserMode::Mode:erMode::e:cpp:useuserMode:rMode:	rt-useuserModuserModeuseuserMode:ruserMode:Mode::e:rMoususerMode:erModeuserMode::de:useuserModeuuserMode:serModuseruserMode:ModeuserMode::e::rMode:ususeuserMode:rMode:euserMode:ruserususerModeuseruseruserMode:Mode:Mode::erMouseruserMuserModuserMode:e:ouserMode:de:ModeuseuuserMode:suseruserMode:Mode:erMode:rModeuserMode:::userMode:dususeruserMuserMode:oduserModeuseruserMode:Mode::e:userMode:Mode:erModeuserMode::e:userMode:ModuseruserMode:de:useruserModeuserMode::Mode:(1) && (rt->ususeuserMode:rMode:erEusuuserModeuserModeuseuserMode:ruserMode:Mode:::serModuserMode:e:erMouserMode:deuserMode::xit userMode:!=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:userMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userModuserMode:e:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:euserMode:ususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:ModuserMode:e:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserModeuserMode::Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruuserMode:serModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruususerMode:erMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserModuserMode:e:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMouserMode:de:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruseuserMode:rMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserModeuserMode::rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruserMode:uuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:oduserMode:e:rtuserMouserMode:de:-userMode:>userMode:uususerMode:euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::ModeuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuserMode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserModuserMode:e:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:userMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserModeuserMode::eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMuuserMode:suserMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserModuserMode:e:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MuserMode:ouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduuserMode:serMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, userMode:rt->uuuserModeuserMode::serMouserMode:de:userModuserususerMode:euserMode:rMode:Mode:userMode:e:userMode:suserMode:erModususeruseuserModuserMode:e:rMode:MouserMode:de:userMode:euserMode:rMuserModeuserMode::ode:e:ususeuserMode:ruserMode:MuserModeuserMode::odeuserMode::erMuserModuserMuseuserMode:rMouserMode:de:ModuuserMode:serMode:e:ususeruserMode:Mode:euserMode:rMode:userModuseuserMode:rMode:e: = userMode:tiuserMode:muserMode:e useuserMode:rMode:- rtuserModuserMode:e:-useuserMode:rMode:>userMode:xtimeuuseruserMode:userMode:ModeuuserMode:ususerMouserMode:de:erMouseruseruserModuserMode:e:Mode:ModuserMode:e:de:serMode::serModuseuserModeuserMode::rMode:euserMode::useruserMode:MouserModeuserMode::de:;	userMode:// ususerMode:eruserMode:MuserMode:ode:ruserModuserMode:userMode:uuserMode:suserMode:erMode:e:t->xtuserModuserMode:e:iuserModuserMode:e:muserMode:e userModeuserMode::iuserModeuserMode::userMode:s userMode:usuuserModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserMode:userMuserMode:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rModeuserMode:uuserModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserMode:e:Mode:deuuserMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:MuserMode:oduserModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserModuserMode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userMode:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserModeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] =userMode:usususeruserMode:Mode:erModuserMuserModuserMode:e:ouserMode:de:userMode:e:erususeruserMode:Mode:eruserMode:ModususerMode:erMode:euserMode::useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMode:seruserModeuserMode::Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:e:oduserMode:ususerMode:euserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMuserMode:oduserMuserMode:ode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserMode:rMode:MuserMuserMode:oduserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:e:userMode:useuserMode:rMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:useruserModeuseuserMode:rMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouuserMode:serMode:de:odeuserMode::userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:usuuserMode:seruseruserModuserMode:e:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuseuserMode:rMode:rMode:deuserMode:::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMouserMode:de::puuserModeuserMode::serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	ruserMode:tuserMode:-uususerMode:euserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMususerMode:erMode:ode:rt-userMode:>pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserModuserMode:e:rMode:	// rtuserMode:->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:houserMode:ususerMode:eruuserMode:serMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erMuserMode:odeuserModeuseuserMode:rMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMode:oduserMode:euserMode::s tuserMode:userMouserMode:uuserMode:serMode:de:hususerModuseruserMode:Mode:e:euserMode:rMouuseuserModuserMode:e:rMode:serModeuserMode::userMode:deuuserMouserModuserMode:e:deuuseuserMode:rMode:serMode:userMode::serMode::euserMode:useruserMode:userMode:Mode: ususerMode:erMode:uuserMode:userMouserModeuserMode::de:useuserMode:rMode:serMuseuseruserMode:Mode:useuserMode:rMouserMuserMode:ode:de:rMode:ouserMode:duserMode:e:userMode:seuserMode:rvuserModeuserModeuserMode:::o loususerMode:erMode:userModuserMode:e:ouserModuserMode:e:p userMode:cuserMode:ounuserMuserMode:ouserModuserMode:e:de:t userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode: %d\nuuserMode:serususeuserMode:ususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruserMode:Mode:eruserModeuserMode::userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserMode::userMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:rt->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMuserMode:ode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:MouserMode:de::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:ususerMode:erMode:[1]ususerMode:eruserMode:ModususerMode:userMode:euserMode:rMode:e:, userMode:rususerMode:erMuserMode:ode:iususerMode:euserMouserMode:de:ruseuserModuserMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduseuserMode:rMode:,0) == uususerModuserMode:e:erMode:serMouserMode:de:useruseruserModeuserMode::Mode:ModuserMususerMode:eruseruserMode:userModeuserMode::MuserMode:odeuserMode::Mode:ode:useruserModuserModuserMode:euserMouserMode:de::e:MouserModuserModeuserMode::e:duseuserusuuserMode:serModuserMode:e:uuserMode:er_org.useuserModuserMode:e:userMode:ruserMode:MouserMode:duserMode:e:cuuserMode:seruuseuserMode:rMode:seuserMode:rMode:Mode:userMode:ppuserMode::			// rt->uuserMode:serModeuseuseruserMode:Mode:rMode::tiuserMode:me userMouserMode:dususerMode:erMode:euseuserMode:rMouserMode:de::userMode:iuserMode:userMuserMode:ode:s userMode:userModeuserModuserMode:e::timuuserMode:useruseuserMode:rMode:Mode:seruserMode:Mode:e euuserMuserMode:oduserMode:e:seuserMouserMode:de:ruserMode:Mode:rt->huserMode:onduseuserModeuserMode::rusususerMode:erMode:euserMode:rMode:Mode:auserMode:userMode:_couserMode:unuserMode:t iuserMode:ususerMode:uuserMode:serModeususerMuserModeuserMode::oduserMode:e:erMode::eruserMode:MouserMode:useuseruserModuserMode:e:MuserModuserMode:e:oduserMode:e:userModuseuserMode:rMode:euserMode::rMode:userMode:de:suserModuseuserMode:ruseuserModuserModeuserMode::euserMuserMode:userMode:ouserMuserMode:ode:de:uuserMode:seuserMode:rMouserMode:de::userMode:rMuuserMode:seruserMode:MuserMouserMode:de:ode:ode:MoususerModeuserMode::erMode:de:useuserMode:rMode:userMode:e: the servuserMode:o userModuserMode:e:louserModeuserMode::ouserMode:puserMode: couuserMode:ususerMuserMode:ode:erMouserMode:deuserMode:userMode::suserMode:erMode:unuseuserMode:rMode:tuseuseruserMode:Mode:rMode:useuserModuserMode:e:userMode:rususeruserMode:Mode:erMode:ModuuserMode:seruserMode:ModuserMode:e:userMode:e: fuuserMode:serModuserMode:e:rususeuserModuseruserMode:Mode:e:rMode:userModeuseruseuserMode:rMode:Mode::eruserMode:Mode:om userMouserMode:de:userMode:rt-userMouseruserMode:Mode:de:>time, (tuuseruserMouserMode:de:ModuserMode:e:seruseuserMode:rMode:Mode:imuuserMode:serMode:e4ususeruserMode:Mode:erMode:-tuseuserMode:ruuserMode:serMode:Mode:uuuserMode:serMode:userMode:serModuserModeuserMode::euuseruserMode:Mode:serModeuseuseruseuserMouserMode:de:rModuserMode:e:Mode:ruserMode:uuseuseruserMode:ModuserMode:e:useuseruserMode:Mode:rMode:ruserMode:MouserMuserMode:ode:de:e:odeuserMuserModeuserModeuserMode:::ode::ruserMode:t->timeuuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::useuserModuserMode:e:userMode:userMode:ruserModuserModeuseruserMode:Mode::e:Mode:userModuserModeuserMode::euuserMuserMode:odeuserMode::userMode:MouuuserModeuserMode:useuseuuseruserMode:Mode:suserMode:eruserMode:MouserMode:duserMode:e:rMode:rModuserMode:euserMouserMode:de:::suserModuserModuseruserMode:Mode:e:e:erModeuserMode::seruserMode:MouserMuseuserMode:rMode:ode:deuserMouserModuserMode:e:duserMode:euuseruserMode:Mode:seuserMode:rMode:::useruserMode:Mode:de:userMode:ususerMode:userMouserMode:de:erMode:userMuserMode:useruserMode:Mode:ode:useuseruserMode:ModuserMode:e:useuserMode:rMode:rMode:ususerMode:erMuserMode:ode:uuseuseruserMouseruserMode:Mode:de:Mode:rMode:serModuseuserMode:rMode:e:useuseuserMode:rMode:rMode:tuuserMode:serMuserMode:ode:ch(ruseruserMode:Mode:t-userMode:>uuseuserMususerMode:erModeuserMode::ode:rMouserMode:de:seruserModeuserMode::_modeuserMuuseruserMode:Mode:serMode:useuserMode:rususerMode:erMode:ModuserMuserMode:ode:e:oduserMode:ususerMode:eususerMode:eususeruserMode:Mode:erMode:rMode:rMoususerMuserMode:ode:erMode:de:e:useuserMuserMode:odeuseususerMode:erMode:rMode:uuseuseruserMode:Mode:rMode:serModuseruserModuserMode:e:Mode:e::rMode:)userMode:userusuuserMode:serMode:userMode:erMode:MuseruserMode:Mode:ode:ususerMode:erMuseruuserMode:serMode:ModuserMode:euserMode::odeuserMode::useruseuserMode:rMode:ususerModeuseruserMode:Mode::erMode:MouserMuserModeuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::rMouserModeuserMode::userMode:de:>x[0uuseuserMode:rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduserModeuserMode::useuserMode:rMode:euseuserMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserMode:Mode:erMode:erMode:e:rMouseruserMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseruserMode:Mode:serMode:Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userMode:useususeruserMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuserMode::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserModeuserMode::suserMode:erMuserMode:oususeruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:MuserMode:userMode:ode:t-userMuserMode:ode:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::duserMode:e:[1ususeuseuserMode:rMode:rMode:erMuserMode:ode:uuserMode:serModeuuseruserMode:Mode:serModuserMode:e::], rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:rMode::euserModeuseruserMode:Mode:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMode:deuseuserModuseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserMode:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode::MuserMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserMode:de:::Mode:orguseruserModuserMode:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMususerMode:erMode:ode:euserMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:suserMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::seruserModeuserMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1], rt-uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:			usuuserModuserMode:e:suserMode:userMode:erMuserMode:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserMode:Mode:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:ModeususeuseruserMode:Mode:rMode:erMode::l[0], 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5ususerMode:erMode:7.3*rt-uuserModeuserMode::userMode:serMuserModuserMode:e:e:ruserMode:userMode:MuserMode:ode:MouserModuseuserMode:rMode:e:de:*rt->userMode:jgoal[useuserMode:ruuserMode:serMode:Mode:userMode:2],ususerMode:erModeuserMode::useuserMouserModuserMouserMode:de:e:duseruserMode:MouserMode:duserMode:e:ususerMode:userMode:e:duserMode:e:.3userMode:ususerMode:ususerMouserMode:deuserMuserMode:oduserMode:e::erModuserMuseruserMode:Mode:ode:e:erModuserMode:e:*rt-usuuserModeuserususerMode:erMode:Mode::serMode:userMode:eruserMuserModuserMode:e:oduserMode:e:Mode:>useuserMode::.3useruuserMode:serMode:Mode:*ruseruserMode:MouserMode:de:t->q[0userMode:]userMode:useuseruserModuserMode:e:Mode:userMode:rMuserMuserMode:userMode:ode:ode:, 57userMode:.3userModuserMuserMode:ode:e:*useruserMode:userMode:Mode:rt->q[userMode:useuserMode:userModeuserMode::uuserMode:serMode:rMode:1]userModeuserMode::, userMouserMode:de:useruseruserMode:ModuserMode:e:Mode:57ususerMuuseruserMode:Mode:serMode:ouserMode:de:euserModuserModeuserMode::userMode:e:ruuserMode:serMode:Mode:.useruserMode:MouserMode:de:3*userMode:rt-uuuseuserMode:rMode:serMouserMode:de:serMouserMode:de:uususerMode:eruseruserMode:Mode:MuserMode:ode:ModeuserususerMode:userMode:erMode:useruseruserMode:Mode:MouserModuserMode:e:de:MuserModuserMode:e:userMode:ode::puseruserMode:Mode::		userMode:		useruserMode:Mode:57.3*userMode:rt->userMode:quseruserMode:Mode:[uuserMode:useuserMode:rMuserMode:oususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euserModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouserMode:deuserModeuserMode:::deuserMode::ode:erMuuuserMode:serMode:serMouserModeuserMode:userMode::de:ouserMode:de:3],uuserMode:serMouserMode:userMode:de: 57.3*rt->uuserMode:seruserMode:ModeususerMode:erMode::q[4uuserMode:suserMode:eruserMode:Mode:]useuserMode:rMouserMode:deuserModususerMode:erMuserMode:ode:e::ususerMode:erMode:uuserMouserMode:de:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuserMode:ode:Mode:serMouserMode:de:erMouserMode:deuseruserMode:Mode::e:userMode:useuserMode:rMouserModuserMouserModuserMode:e:de:e:de:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouserMode:de:ode:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerModuserMode:e:erMode:Mode:userMode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:rMode::ModuserMode:e:userMode:erMouserModuserMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:serMode::ususerMode:erModuserModeuuserMode:serMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:ode:userMode:tuseruuserMode:serMode:Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:oduserMode:e:Mode:[ususerMode:erMode:ususerMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rMode:userMode:eruserMouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuserMode:ruseruserMode:Mode:ususerMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMususerMode:euserMode:rMode:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMode:->uuserModeuserMode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruserMode:Mode:ModuserMode:ususerMode:erMode:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userMode:userMode:serModuserMode:e:useuserMode:rMode:Mode:userususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:de:seruserMode:Mode::MuserMode:oduserModuserMode:e:userMode:e:userMode:useuserMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserModuserMode:e::MuseuserMuserMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModeuserMode::es[3],userMode:useruserModeuserMode::Mode: userModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuserMode:rMuserMode:ode:usususerMode:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuserMode:seruserMouserMode:duuserMode:seruserMode:ModeuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:userMode:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode::de:ModuseruserMode:Mode:e:erMode:ouseuserMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserModuserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:rMode::pp:userMode:				userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMode:serModuserModeuserMode:userMode::euserMode::q[userMode:1]userMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:ModeuserMode::3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:userMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:userMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:eruserMode:userModuserMouserMode:de:e:ModuserMode:e:useruserMode:Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serMuserMouserModuuserMode:seuserModuserMode:e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuserMode:oduserMode:e:uususerMode:erMouseruserMode:ModuserMode:e:de:serMouserMode:de:useruserMouserMode:de:ModeususerMode:erMuserMode:ouserMode:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMouserMode:deuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserMode:serMode:ususerMuserMode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:userMode:]uuserMode:serMode:userMode:, userMode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMode:ode:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMode:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserMode:userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouserususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouseruserMode:Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:uuserMode:serModuserModeuserMode::uuserMouserMode:de:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouseruserMode:Mode:de:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMode:de:Mode:uuserMode:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserModeuserMode::e:useuserMode:rMouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuserMode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserMode::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModeuserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rMode:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouserMode:deuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeususerMode:eruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:MouserMode:deuserModeuserMode:::ruseuserMode:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserModeuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserModeuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserModeuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruserMode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuserMode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, 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rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:e:userMode:useruuseruserMode:Mode:seruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rususeruserMode:Mode:erMode:Mode:Mode:MuseruserMode:Mode:ode:userMode:ruseruseruserMode:Mode:Mode:t->useuseruseuseruserMode:Mode:ruserMode:Mode:ModuseruserMode:Mode:e:rMode:q[i])uuseruseruseruserMode:Mode:Mode:Mode:serModeuserususeruseruserMode:Mode:Mode:erMode:Mode::)/useuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::(duserMode:quseruseruserMode:Mode:Mode:max*userModuserModuseruseruserMode:Mode:Mode:e:e:useruserMouseruseruseruserMode:Mode:Mode:Mode:duseruserModeuseruseruserMode:Mode:Mode::Mode:e:ModeuserususeruseruserMode:Mode:Mode:erMode:Mode::uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:ModuseuseruseruseruserMode:Mode:Mode:Mode:rMode:e:userMuseruseruserMode:Mode:Mode:ode:useruseruserususeruseruserMode:Mode:Mode:erModeuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode::MouseruseruserMode:Mode:Mode:de:Mode:Mode:userMuseruseruserMode:Mode:Mode:ode:useruseuseuseruseruseruserMode:Mode:Mode:Mode:rMode:rModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:MuseruseruserMode:Mode:Mode:ode:userModeususeruseruseruserMode:Mode:Mode:Mode:eruserMode:MouseruseruserMode:Mode:Mode:de::useruserModuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:userMuseruseruserMode:Mode:Mode:oduserMode:e:useruuseruseruserMode:Mode:Mode:serMode:ModeususeruseruseruserMode:Mode:Mode:Mode:euseruserModeuseruseruserMode:Mode:Mode::Mode:ruserMode:MouseruseruserMode:Mode:Mode:de::userMode:uuseruseruseruserMode:Mode:Mode:Mode:seruserMode:MuseruseruserMode:Mode:Mode:oduseruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:e:uuseruseruseruserMode:Mode:Mode:Mode:serMode:useruuseruseruserMode:Mode:Mode:seruseruserMode::MuseruseruserMode:Mode:Mode:ode:MouseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMouseruseruserMode:Mode:Mode:deuserMode::tfuseruseruseruserMode:Mode:Mode:Mode:[i]userModuseuseruseruserMode:Mode:Mode:ruserMode:Mode:e:=useruseruserMode:Mode:Mode:userMode:useruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:rMuseruseruserMode:Mode:Mode:ode:ModeuserModuseruseuseruserMode:Mode:rModeuserMode::ModeuserModeuseruserMode:Mode:::e::ususerModuseuserMode:rMode:e:euuseruserMode:Mode:serMode:rMode:useuserMode:ruserMuseruseruserMode:Mode:Mode:ode:MuserModuserMode:e:ouseruseuseruserMode:Mode:rModeuserMode::MouserMode:de:deuserMuseruserMode:Mode:odeuserMode:::useuserMode:rMode:, rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuserMode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuserMode:e:erModeususeruserMode:Mode:eruserMode:Mode::userMode:erModuserMuseruserMode:Mode:ode:e:useruseruseuserMode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuserMode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuserMode:serModuseruseruserMode:Mode:Mode:e:odeuserModuserMode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduserMode:userMode:euseruserMode:Mode:useususerMode:erMuserMode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:eruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:Mode:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:Mode:suserMode:useruserMode:Mode:eruuseuserMode:rMuseruserMode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:Mode:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::euuseruserMode:Mode:serMode::Mode::[iuseruserMode:Mode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruserMode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserModuseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:Mode:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:Mode:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:Mode::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:Mode:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerMode:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeuseruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::Mode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserMode:Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::[0]userModeuseruseruserMode:Mode:Mode::);
userMuseruuserModuserMode:e:serMode:Mode:ouserModuserMode:euseruserMode:Mode::de:useruseuuserMode:ususerMode:erMode:serususerMode:eruserModeuseruserMode:Mode::MouserMode:de:Mode:useuserMode:rMouserMode:de:rMode:Mode:uusususeruserModeuserMode::Mode:erMode::e:cpp:useuserMode:rMode:	rt-useuserModuserModeuseuserMode:ruserMode:Mode::e:rMoususerMode:erModeuserMode::de:useuserModeuuserMode:serModuseruserMode:ModeuserMode::e::rMode:ususeuserMode:rMode:euserMode:ruserususerModeuseruseruserMode:Mode:Mode::erMouseruserMuserModuserMode:e:ouserMode:de:ModeuseuuserMode:suseruserMode:Mode:erMode:rModeuserMode:::userMode:dususeruserMuserMode:oduserModeuseruserMode:Mode::e:userMode:Mode:erModeuserMode::e:userMode:ModuseruserMode:de:useruserModeuserMode::Mode:(1) && (rt->ususeuserMode:rMode:erEusuuserModeuserModeuseuserMode:ruserMode:Mode:::serModuserMode:e:erMouserMode:deuserMode::xit userMode:!=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:userMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userModuserMode:e:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:euserMode:ususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:ModuserMode:e:useuserMouserMode:de:userMode:ruuserMode:seuserMouseruserModeuserMode::Mode:de:rMode:MouseuseuserMode:rMode:ruserMode:Mode:de:useruseuserMode:ruserMode:Mode:Mode:uususerMode:erModeuserMode::suserMode:useruuserMode:serModuseruserMode:ModeuserMode::euserMode::ModuserMode:e:eruususerMode:erMode:seruserMuseruseruserMode:Mode:Mode:ode:ModeuserMouserModuserMode:e:de::Mode:useuseruseususerMode:euseruserMode:Mode:Mode:MuserMouserMode:de:odeuserMode::userModuserMode:e:rt->ususerususerMode:euseruseuserMode:rMode:Mode:rModeuserModuserMode:e::Mode:erEuuserMode:seuserModeuserMode::rModuserMouseruserModeuserMode::Mode:de:e:n", uuserMode:seuseruserMode:uuserMode:serMode:Mode:userMode:rMuseruseruserMode:Mode:Mode:oduserMode:e:rtuserMouserMode:de:-userModeuserMode::>userMode:uususerMode:euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::ModeuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuserMode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserModuserMode:e:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:userMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserModeuserMode::eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMuuserMode:suserMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserModuserMode:e:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MuserMode:ouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduuserMode:serMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, 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uususerModuserMode:e:erMode:serMouserMode:de:useruseruserModeuserMode::Mode:ModuserMususerMode:eruseruserMode:userModeuserMode::MuserMode:odeuserMode::Mode:ode:useruserModuserModuserMode:euserMouserMode:de::e:MouserModuserModeuserMode::e:duseuserusuuserMode:serModuserMode:e:uuserMode:er_org.useuserModuserMode:e:userMode:ruserMode:MouserMode:duserMode:e:cuuserMode:seruuseuserMode:rMode:seuserMode:rMode:Mode:userMode:ppuserMode::			// rt->uuserMode:serModeuseuseruserMode:Mode:rMode::tiuserMode:me userMouserMode:dususerMode:erMode:euseuserMode:rMouserMode:de::userMode:iuserMode:userMuserMode:ode:s userMode:userModeuserModuserMode:e::timuuserMode:useruseuserMode:rMode:Mode:seruserMode:Mode:e euuserMuserMode:oduserMode:e:seuserMouserMode:de:ruserMode:Mode:rt->huserMode:onduseuserModeuserMode::rusususerMode:erMode:euserMode:rMode:Mode:auserMode:userMode:_couserMode:unuserMode:t 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rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:rMode::euserModeuseruserMode:Mode:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMode:deuseuserModuseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserMode:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode::MuserMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserMode:de:::Mode:orguseruserModuserModuserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMususerMode:erMode:ode:euserMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:suserMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::seruserModeuserMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1], 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57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMoususerMode:erMode:de:.3*ususeruserMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMode:userMode:userMouuserMode:serModeuserModeuseruserMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[userMode:ususerMouserModuserMode:e:de:euuserMode:serMode:rMuserMuseruserMode:Mode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:userMode:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruserMode:Mode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruserMode:Mode:erMode:userMode::deuserMode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruserMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	57userMode:userMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruserMuserMode:ode:ModeuserMode::MuserMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuserMode:seruserMode:MuserMode:odeuserMode::[3]useuseuserMode:rMode:rMode:,userMode: 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ususerMode:erModeuserMuserMode:ode:userModususerMouseuserMode:rMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:Mode:ModuserMode:eususerMode:erMode::userMode:oduserMode:e:e::57.3*rt->jguseuseuserMode:rMode:rModuserModeuserMode::e:ouseruseruseususerModeuseruserModeuserMode::Mode::erMode:rMuserMuserModeususerMode:erMode::ode:oduuseruseuserMode:rMode:Mode:seruserModeuuserMode:serMode::Mode:euserMususerModuseuserMode:ruserMode:Mode:euserMode:						userMode:57.3*rtuserMode:->uuseuserMode:rMode:serModeuserMode::userMode:uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMuserMode:ode:serModususeruseuseuserMode:rMode:rMode:rMode:userMode:userMode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMouseruserModuseuserMode:rMode:e:Mode:duserModuserMode:e:euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 5userMode:7.3uuseruseuserMode:rMode:Mode:suserMususeuserMode:rMode:erMode:ode:eruserModuserMuseruseruserMode:Mode:Mode:ode:e:userMode:Mode:*rt-userModeuserMode:userMuserMode:oduseruserMode:ModeuseuserMode:rMode::serususerMode:erMode:Mode:userModeuserMode:::de:		userMususerMode:erMode:ode:			rt->x_duserMode:euserMode:suseuseuserMoususeruseuserMode:rMode:Mode:eruseuserMode:rMode:Mode:deuuserMode:seuserModuserModuserMode:e:e:rMuuserMode:serMode:ode::rMuserMode:oduuserMode:serModuuseuserMode:rMode:serMouserMode:de:e:e:ruserMouserMode:de:ModeuserModeuserMuuserMode:seuserMode:ruserMode:Mode:oduseuserMode:rMode:e::userMode::useuserMode:rMode:userMode:[1useuserMode:rMode:uuserModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2ususerMode:erMode:])userMode:;useuserMode:rMode:duserMode:e:e:		userMuserModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:seuserMode:rMode:], rt->userModususerMode:erMoususerMode:erMode:de:serMouuserMode:seuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMouserMode:de:uuserMode:serMode:ouserMode:de:userMode:de:userMode:userModuserMode:userMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseuserMode:ruserMuserMode:ode:ModuserMode:e:serMode:Mode:ususerModuserModuserMode:e:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserModuserMode:e:sususerMode:euserModuserMode:e:userMode:e:ouserModeuserMode:userMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:oduserMode:e:seruserModeuserModususerMode:erMode:e::userModeususerMode:eruserMode:Mode::Mode:de:.cuseruserMode:useruserMode:Mode:MouseruserMode:uuserMode:suserMode:erMode:MouserMode:de:uuserMode:seruserMode:Mode:userModeuserMouserMode:de::de:userMode:pp:userMouserModuuserMode:serMode:e:de:	userMode:		userMouserMode:de:			ususerMode:erModuserMode:euserMode::rt-userModeuserMode:userMode::>userMouserMode:de:xuseruserModeuserMode::Mode:ee[1userModeuseruseuserMouserMode:duserMode:e:rMode:MoususerMode:erModuseruserMode:Mode:euserModuserMode:e::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMode:ouseruserModuserMode:e:Mode:duserMode:ususeuserMode:rMode:erMode:e:tuserMode:->xuseuserMode:rModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rModeuserMode::useuserMode:rMode:uuserMode:suseususerMode:erMode:rModeuseuserMode:rMode:uuserMode:serMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMode:rt->ususerMouserMode:de:erMode:F[0]uuserModuserMode:e:serModeuserMode:userModuserMouserMode:deuserMode::e:ususuuserModuserModuserMode:e:e:serMouserMode:de:userMode:duserMode:e:teuseruserMode:Mode:userMode:userMode:r_userMode:org.cpp:	ususerMode:erMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuuserMode:serususerMode:erMode:ModeuseruserModuserMode:e:Mode::serMode:userModuserMoususerMode:erMode:de:e:rtuseruserMode:userMouserMode:deuseuserMode:useruserMouserModuserMode:e:de:Mode:rMuserMode:ouserMode:de:userMode:userMode::MouseuseruserMode:Mode:rMode:de:->userMode:uususeususerMode:erMode:rMode:erMuserMode:ode:seruserModeuserMode::ModeuserMode::F[useususerMode:erMode:rMode:1], 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5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerModeuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userMode:>dquserModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:ode:e:MususerMode:eruserMode:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:ModeuserMode::3*rt->userMode:userMode:duserMode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:userMode:seruseuserMode:rMode:MouseuserMode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:Mode:uuserMode:userMode:serMode:ususerMode:erMuserModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:eruserMode:userModuserMouserMode:de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serMuserMouserModuuserMode:seuserModuserMode:e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuserMode:oduserMode:e:uususerMode:erMouseruserMode:ModuserMode:e:de:serMouserMode:de:useruserMouserMode:de:ModeususerMode:erMuserMode:ouserMode:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMouserMode:deuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserMode:serMode:ususerMuserMode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:userMode:]uuserMode:serMode:userMode:, userMode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMode:ode:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMode:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserMode:userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouserususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouseruserMode:Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserMode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:uuserMode:serModuserModeuserMode::uuserMouserMode:de:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::ususerMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMode:de:Mode:uuserMode:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserModeuserMode::e:useuserMode:rMouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuserMode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserMode::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModeuserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]userModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuserMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouserMode:deuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeususerMode:eruserModeuserMode::Mode:::useuseruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:MouserMode:deuserModeuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserModeuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserModeuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserModeuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::useuseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauserMode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-userMode:>userMode:quseuseruserMode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] 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rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = 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rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuserMode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserMode::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModeuserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuserMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouserMode:deuserModeuserMode::::ModeuseruserMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeususerMode:eruserModeuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:MouserMode:deuserModeuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserModeuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserModeuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserModeuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euserMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruserMode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, 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rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 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rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = 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uuserMode:seuseruserMode:uuserMode:serMode:Mode:userModeuserMode::rMuseruseruserMode:Mode:Mode:oduserMode:e:rtuserMouserMode:de:-userModeuserMode::>userMode:uususerMode:euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::ModeuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuserMode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserModuserMode:e:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:userMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserModeuserMode::eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMuuserMode:suserMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserModuserMode:e:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MuserMode:ouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduuserMode:serMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, 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userMode:usuuserModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserMode:userMuserMode:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rModeuserMode:uuserModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserMode:e:Mode:deuuserMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:MuserMode:oduserModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserModuserMode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userMode:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserModeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] 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rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuserMode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserMode::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:Mode:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModeuserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuserMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userModeuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeuserMode::::xit,SuseuserMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouserMode:deuserModeuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeususerMode:eruserModeuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:MouserMode:deuserModeuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserModeuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserModeuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserModeuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuserMode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuserMode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuserMode:seuserMode:rususeruserMode:Mode:erMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModuseruserMode:Mode:e::Mode::qgoauserMode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 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rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = 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userMode:usuuserModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserMode:userMuserMode:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rModeuserMode:uuserModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserMode:e:Mode:deuuserMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:MuserMode:oduserModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserModuserMode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userMode:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserModeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] 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rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuserMode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserMode::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModeuserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuserMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserModeuserMode:::Mode:1useuserMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeuserMode::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouserMode:deuserModeuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeususerMode:eruserModeuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:MouserMode:deuserModeuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserModeuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserModeuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserModeuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserMode::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		userMode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, 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rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 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rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = 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uuserMode:seuseruserMode:uuserMode:serMode:Mode:userModeuserMode::rMuseruseruserMode:Mode:Mode:oduserMode:e:rtuserMouserMode:de:-userModeuserMode::>userMode:uususerMode:euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::ModeuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuserMode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserModuserMode:e:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:userMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserModeuserMode::eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMuuserMode:suserMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserModuserMode:e:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MuserMode:ouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduuserMode:serMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, 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userMode:usuuserModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserMode:userMuserMode:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rModeuserMode:uuserModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserMode:e:Mode:deuuserMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:MuserMode:oduserModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserModuserMode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userMode:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserModeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] 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rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuserMode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserMode::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModeuserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuserMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserModeuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserModeuserMode:::Mode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeuserMode::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouserMode:deuserModeuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeususerMode:eruserModeuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:MouserMode:deuserModeuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserModeuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserModeuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModeuserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuserMode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, 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rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 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rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = 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uuserMode:seuseruserMode:uuserMode:serMode:Mode:userModeuserMode::rMuseruseruserMode:Mode:Mode:oduserMode:e:rtuserMouserMode:de:-userModeuserMode::>userMode:uususerMode:euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::ModeuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuserMode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserModuserMode:e:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:userMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserModeuserMode::eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMuuserMode:suserMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserModuserMode:e:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MuserMode:ouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduuserMode:serMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuserMode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserMode:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, 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userMode:usuuserModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserMode:userMuserMode:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rModeuserMode:uuserModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserMode:e:Mode:deuuserMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:MuserMode:oduserModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserModuserMode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userMode:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserModeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] 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rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuserMode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserMode::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModeuserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuserMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MuseruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t 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useruserMouserMode:deuserModeuserMode:::Mode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeuserMode::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouserMode:deuserModeuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeususerMode:eruserModeuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:MouserMode:deuserModeuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserModeuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuserMode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], 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userMouseruserMode:Mode:de:= 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rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = 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rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuserMode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserMode::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModeuserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuserMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t 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useruserMouserMode:deuserModeuserMode:::Mode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeuserMode::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouserMode:deuserModeuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeususerMode:eruserModeuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:MouserMode:deuserModeuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::useruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, 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userMouseruserMode:Mode:de:= 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rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = 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uuserMode:seuseruserMode:uuserMode:serMode:Mode:userModeuserMode::rMuseruseruserMode:Mode:Mode:oduserMode:e:rtuserMouserMode:de:-userModeuserMode::>userMode:uususerMode:euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::ModeuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuserMode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserModuserMode:e:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:userMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserModeuserMode::eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMuuserMode:suserMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserModuserMode:e:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MuserMode:ouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduuserMode:serMode:e:de:t->userMode:useuseruserMode:Mode:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serModuseruseuuserMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuuserMode:serMode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserModuserMode:e:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, 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userMode:usuuserModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserMode:userMuserMode:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rModeuserMode:uuserModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserMode:e:Mode:deuuserMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:MuserMode:oduserModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserModuserMode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userMode:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserModeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] 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rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuserMode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserMode::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModeuserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModeuuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuserMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t 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useruserMouserMode:deuserModeuserMode:::Mode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeuserMode::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouserMode:deuserModeuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeususerMode:eruserModeuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:Mode:Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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userMouseruserMode:Mode:de:= 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rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = 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rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuserMode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserMode::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModeuserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:p:uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuserMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserModeuserMode:::Mode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeuserMode::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouserMode:deuserModeuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rMode:e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruserMode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuserMode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruserMode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:tfuseruseruseruserMode:Mode:Mode:Mode:[i]useruserMode:ModuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:e:=useruseruserMode:Mode:Mode:userMode:useuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:seuserMuserMode:ode:rMuseruseruserMode:Mode:Mode:ode:ModeuseruserMode:ModuseruseuseruserMode:Mode:rModeuserMode::MouserMode:deuserModeuseruserMode:Mode:::e::ususerModuseuserMode:rMode:e:euuseruserMode:Mode:serMode:rMode:useuserMode:ruserMuseruseruserMode:Mode:Mode:ode:MuserModuserMode:e:ouseruseuseruserMode:Mode:rModeuserMode::MouserMode:de:deuserMuseruserMode:Mode:odeuserMode:::useuserMode:rMode:, rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::Mode::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:eruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:Mode:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:Mode:suserMode:useruserMode:Mode:eruuseuserMode:rMuseruserMode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:Mode:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::euuseruserMode:Mode:serMode::Mode::[iuseruserMode:Mode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruserMode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserModuseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuserMode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::[0]userModeuseruseruserMode:Mode:Mode::);
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uuserMode:seuseruserMode:uuserMode:serMode:Mode:userModeuserMode::rMuseruseruserMode:Mode:Mode:oduserMode:e:rtuserMouserMode:de:-userModeuserMode::>userMode:uususerMode:euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::ModeuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuserMode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserModuserMode:e:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:userMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserModeuserMode::eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMuuserMode:suserMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserModuserMode:e:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MuserMode:ouseruserususerModeuserMode::eususerMode:erMode:rMode:Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:useuseruserMode:Mode:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serMuserMode:oduseruseuuserMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuuserMode:serMode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserModuserMode:e:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, 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userMode:usuuserModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserMode:userMuserMode:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rModeuserMode:uuserModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserMode:e:Mode:deuuserMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:MuserMode:oduserModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserModuserMode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userMode:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserMuserMode:odeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::userMode:	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] 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= userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruseruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususerMode:erModuserMode:e:eruserMode:userMouserModeuseruserMode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruserMode:Mode:Mode:erMode:Mode:uuseruserMode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:tfuseruseruseruserMode:Mode:Mode:Mode:[i]useruserMode:ModuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:e:=useruseruserMode:Mode:Mode:userMode:useuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:seuserMuserMode:ode:rMuseruseruserMode:Mode:Mode:ode:ModeuseruserMode:ModuseruseuseruserMode:Mode:rModeuserMode::MouserMode:deuserModeuseruserMode:Mode:::e::ususerModuseuserMode:rMode:e:euuseruserMode:Mode:serMode:rMode:useuserMode:ruserMuseruseruserMode:Mode:Mode:ode:MuserModuserMode:e:ouseruseuseruserMode:Mode:rModeuserMode::MouserMode:de:deuserMuseruserMode:Mode:odeuserMode:::useuserMode:rMode:, rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserMode:Mode:rMuserMode:odeuseuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:eruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:Mode:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:Mode:suserMode:useruserMode:Mode:eruuseuserMode:rMuseruserMode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:Mode:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::euuseruserMode:Mode:serMode::Mode::[iuseruserMode:Mode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruserMode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserModuseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuserMode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::[0]userModeuseruseruserMode:Mode:Mode::);
userMuseruuserModuserMode:e:serMode:Mode:ouserModuserMode:euseruserMode:Mode::de:useruseuuserMode:ususerMode:erMode:serususerMode:eruserModeuseruserMode:Mode::MouserMode:de:Mode:useuserMode:rMouserMode:de:rMode:Mode:uusususeruserModeuserMode::Mode:erMode::e:cpp:useuserMode:rMode:	rt-useuserModuserModeuseuserMode:ruserMode:Mode::e:rMoususerMode:erModeuserMode::de:useuserModeuuserMode:serModuseruserMode:ModeuserMode::e::rMode:ususeuserMode:rMode:euserMode:ruserususerModeuseruseruserMode:Mode:Mode::erMouseruserMuserModuserMode:e:ouserMode:de:ModeuseuuserMode:suseruserMode:Mode:erMode:rModeuserMode:::userMode:dususeruserMuserMode:oduserModeuseruserMode:Mode::e:userMode:Mode:erModeuserMode::e:userMode:ModuseruserMode:de:useruserModeuserMode::Mode:(1) && (rt->ususeuserMode:rMode:erEusuuserModeuserModeuseuserMode:ruserMode:Mode:::serModuserMode:e:erMouserMode:deuserMode::xit userMode:!=usususeruserMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:userMode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userModuserMode:e:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:euserMode:ususerMode:erMode:::uususerMode:erMode:seruseruserMode:Mode:ModuserMode:e:useuserMouserMode:de:userMode:ruuserMouserMode:de:seuserMouseruserModeuserMode::Mode:de:rMode:MouseuseuserModeuserMode::rMode:ruserMode:Mode:de:useruseuserMode:ruserMode:Mode:Mode:uususerModeuserMode::erModeuserMode::suserMode:useruuserMode:serModuseruserMode:ModeuserModeuserMode:::euserMode::ModuserMode:e:eruususerMode:erMode:seruserMuseruseruserModeuserMode::Mode:Mode:ode:ModeuserMouserModuserMode:e:de::Mode:useuseruseususerModeuserMode::euseruserMode:Mode:Mode:MuserMouserMode:de:odeuserMode::userModuserModeuserMode::e:rt->ususerususerMode:euseruseuserMode:rMode:Mode:rModeuserModuserModeuserMode::e::Mode:erEuuserMode:seuserModeuserMode::rModuserMouseruserModeuserModeuserMode:::Mode:de:e:n", uuserMode:seuseruserMode:uuserMode:serMode:Mode:userModeuserMode::rMuseruseruserMode:Mode:Mode:oduserMode:e:rtuserMouserMode:de:-userModeuserMode::>userMode:uususerMode:euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::ModeuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuserMode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserModuserMode:e:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:userMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserModeuserMode::eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMuuserMode:suserMode:erModeuserMode::ode::,userMode:uuserMode:serModeuserModuserModuserMode:e:e::rt->auserMode:2userMode:,ruuserMode:seruserModuserMode:euserMode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:erMode:rMode:Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:useuseruserMode:Mode:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serMuserMode:oduseruseuuserMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuuserMode:serMode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserModuserMode:e:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, userMode:rt->userMode:uuuserModeuserMode::serMouserMode:de:userModuserususerMode:euserMode:rMode:Mode:uuserMode:serMode:e:userMode:suserMode:erModususeruseuserModuserMode:e:rMode:MouserMode:de:userMode:userMode:euserMode:rMuserModeuserMode::ode:e:ususeuserMode:ruserMode:MuserModeuseuserMode:rMode::odeuserMode::erMuserModuserMuseuserMode:rMouserMode:de:ModuuserMode:serModuserMode:e:e:ususeruserMode:Mode:euserMode:rMode:userModuseuserMode:rMode:e: = userMode:tiuserMode:userMode:muserMode:e useuserMode:rMode:- rtuserModuserMode:e:-useuserMode:rMode:>userMode:xtimeuuseruserMode:userMode:ModeuuserMode:ususerMouserMode:de:erMouseruseruserModuserMode:e:Mode:ModuserMode:e:de:serMode::serModuseuserModeuserMode::rMode:euserMode::useruserMode:MouserModeuserMode::de:;	userMode:// ususerMode:eruserMode:MuserMode:ode:ruserModuserMode:userMode:uuserMode:suserMode:erMode:e:t->xtuserModuserMode:e:iuserModuserMode:e:muserMode:e userModeuserMode::iuserModeuserMode::userMode:s userMode:usuuserModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserMode:userMuserMode:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rModeuserMode:uuserModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserMode:e:Mode:deuuserMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:MuserMode:oduserModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserModuserMode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userModuserMode:e:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserMuserMode:odeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::userMode:	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] =userMode:usususeruserMode:Mode:erMuserMode:oduserMuserModuserMode:e:ouserMode:de:userMode:e:erususeruserMode:Mode:eruserMode:ModususeuserMode:rMode:erMode:euserMode::useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMouserMode:de:seruserModeuserMode::Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:euserMode::oduserMode:ususerMode:euserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMususerMode:erMode:oduserMuserMode:ode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserModuserMode:e:rMode:MuserMuserMode:oduserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:userMode:e:userMode:useuserMode:rMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:uuserMode:seruserModeuseuserMode:rMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouuserMode:serMode:de:odeuserMode::userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:usuuserMode:seruseruserModuserMode:e:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuseuserMode:rMode:rMode:deuserMode:::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMouserMode:de::puuserModeuserMode::serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	ruserMode:tuserMode:-uususerMode:euserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMususerMode:erMode:ode:rt-userMode:>pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserModuserMode:e:rMode:	// rtuserMode:->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:houserMode:ususerMode:eruuserMode:serMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erMuserMode:odeuserModeuseuserMode:rMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMode:oduserMode:euserMode::s tuserMode:userMouserMode:uuserMode:serMode:de:hususerModuseruseuserMode:rMode:Mode:e:euserMode:rMouuseuserModuserMode:e:rMode:serModeuserMode::userMode:deuuserMouuserMode:serModuserMode:e:deuuseuserMode:rMode:serMode:userMode::serMode::euserMode:useruserMode:userMode:MouserMode:de: ususerMode:erMode:uuserMode:userMouserModeuserMode::de:useuserMode:rMode:serMuseuseruserMode:MouserMode:de:useuserMode:rMouserMuserMode:ode:de:rMode:ouserMode:duserMode:e:userMode:seuserMode:rvuserModeususerMode:erModeuserMode:::o loususerMode:erMode:userModuserMode:e:ouserModuserMode:e:p userMode:cuserMode:ouuserMode:nuserMuserMode:ouserModuserMode:e:de:t userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode:userMode: %d\nuuserMode:serususeuserMode:ususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruuserMode:serMode:Mode:eruserModeuserMode::userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserModuserMode:e::userMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMuserMode:ouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:ruserMode:t->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMuserMode:ode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:MouserMode:de::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:ususerMode:erMode:[1]ususerMode:eruserMode:ModususerMode:userMode:euserMode:rMode:e:, userMode:rususerMode:erMuserMode:ode:iususerMode:euserMouserMode:de:ruseuserModuserMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduseuserMode:rMode:,0) == uususerModuserMode:e:erMode:serMouserMode:de:useruseruserModeuserMode::Mode:ModuserMususerMode:eruseruserMode:userModeuserMode::MuserMode:odeuserMode::Mode:ode:useruserModuserModuserMode:euserMouserMode:de::e:MouserModuserModeuserMode::e:duseuserusuuserMode:serModuserMode:e:uuserMode:er_org.useuserModuserMode:e:userMode:ruserMode:MouserMode:duserMode:e:cuuserMode:seruuseuserMode:rMode:seuserMode:rMode:Mode:userMode:ppususerMode:erMode::			// rt->uuserMode:serModeuseuseruserMode:Mode:rMode::tiuserMode:me userMouserMode:dususeruserMode:Mode:erMode:euseuserMode:rMouserMode:de::userMode:iuserMode:userMuserMode:ode:s userMode:userModeuserModuseruserMode:Mode:e::timuuserMode:useruseuserMode:rMode:Mode:seruserMode:Mode:e euuserMuserMode:oduserMode:e:seuserMouseruserMode:Mode:de:ruserMode:Mode:rt->huserMode:onduseuserModeuserMode::rusususerMode:erMode:euserMode:rMode:Mode:auseruserMode:Mode:userMode:_couserMode:unuserMode:t 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(tuuseruserMouserMode:de:ModuserMode:e:seruseuserMode:rMode:Mode:imuuserMode:serMode:e4ususeruserMode:Mode:erMode:-tuseuserMode:ruuserMode:serMode:Mode:uuuserMode:serMode:userMode:serModuserModeuserMode::euuseruserMode:Mode:serModeuseuseruseuserMouserMode:de:rModuserMode:e:Mode:ruserMode:uuseuseruserMode:ModuserMode:e:useuseruserMode:Mode:rMode:ruserMode:MouserMuserMode:ode:de:e:odeuserMuserModeuserModeuserMode:::ode::ruserMode:t->timeuuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::useuserModuserModeuserMode::e:userMode:userMode:ruserModuserModeuseruserMode:Mode::e:Mode:userModuserModeuserMode::euuserMuserMode:odeuuserMode:serMode::userMode:MouuuserModeuserMode:useuseuuseruserMode:Mode:suserMode:eruserMode:MouserMode:duserMode:e:rMode:rMouserMode:duserMode:euserMouserMode:de:::suserModuserModuseruserMode:Mode:e:e:erModeuserMode::seruserMode:MouserMuseuserMode:rMuserMode:ode:ode:deuserMouserModuserMode:e:duserMode:euuseruserMode:Mode:seuserMode:rMode:::useruserMode:Mode:de:userMode:usususerMode:erMode:userMouserMode:de:erMode:userMuserMode:useruserMode:Mode:ode:useuseruserMode:ModuserMode:e:useuserMode:rMode:ruserMode:Mode:ususerMode:erMuserMode:ode:uuseuseruserMouseruserMode:Mode:de:Mode:rMode:serModuseuserMode:rMode:e:useuseuserModuserMode:e:rMode:rMode:tuuserMode:serMuserMode:ode:ch(ruseruserMode:Mode:t-userMode:>uuseuserMususerMode:erModeuserMode::ode:ruserMode:MouserMode:de:seruserModeuserMode::_modeuserMuuseruserMode:Mode:serMode:useuserMode:rususerMode:erMode:ModuserMuserMouserMode:de:ode:e:oduserMode:ususerMode:eususerMode:eususeruserMode:Mode:erMode:rMode:rMoususerMuserMode:ode:erMode:de:e:useususerMode:erMuserMode:odeuseususerMode:erMode:rMode:uuseuseruserMode:Mode:rMode:serModuseruserModuserMode:e:Mode:e::rMode:)useruserMode:Mode:userusuuserMode:serMode:userMode:erMode:MuseruserMode:Mode:ode:ususerMode:erMuseruuserMode:serMode:ModuserMode:euserMode::odeuserMode::useruseuserMode:rMode:ususerModeuseruserMode:Mode::erMode:MouserMuserModeuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::rMouserModeuserMode::userMode:de:>x[0uuseuserMode:rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduserModeuserMode::useuserMode:rMode:euseuserMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserMode:Mode:erMode:erMode:e:rMouseruserMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseruserMode:Mode:serMode:Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruserMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuserMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserModeuserMode::suserMode:userMode:erMuserMode:oususeruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:MuserMode:userMode:ode:t-userMuserMode:oduserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::duserMode:e:[1ususeuseuserMode:rMode:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:e::], rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:Mode:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserModuseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuserMode:e:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode::MuseuserMode:rMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserMode:de:::Mode:orguseruserModuserModuserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMususerMode:erMode:ode:euserMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:suserMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::seruserModeuserMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1], rt-uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:			usuuserModuserMode:e:suserMode:userMode:erMuserMode:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserMode:ModuserMode:e:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:ModeususeuseruseuserMode:rMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMoususerMode:erMode:de:.3*ususeruseuserMode:rMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMode:userMode:userMouuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[userMode:ususerMouserModuserMode:e:de:euuserMode:serMode:rMuserMuseruseuserMode:rMode:Mode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:userMode:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruseuserMode:rMode:Mode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruseuserMode:rMode:Mode:erMode:userMode::deuserMode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruseuserMode:rMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	57userMode:useuserMode:rMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruserMuserMode:ode:ModeuserMode::MuseuserMode:rMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuserMode:seruserMode:MuserMode:odeuserMode::[3]useuseuserMode:rMode:rMode:,userMode: 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5userMode:7.3uuseruseuserMode:rMode:Mode:suserMususeuserMode:rMode:erMode:ode:eruserModuserMuserMode:useruseruserMode:Mode:Mode:ode:e:userMode:Mode:*rt-userModeuserMode:userMuserMode:oduseruserMode:ModeuseuserMode:rMode::serususerMode:erMode:ModuserMode:e:userModeuserMode:::de:		userMususerMode:erMode:ode:			rt->x_duserMode:euserMode:suseuseuserMoususeruseuserMode:rMode:Mode:eruseuserMode:rMode:userMode:Mode:deuuserMode:seuserModuserModuserMode:e:e:rMuuserMode:serMode:ode::rMuserMode:oduuserMode:serModuuseuserMode:rMode:serMouserMode:de:e:e:ruseuserMode:rMouserMode:de:ModeuserModeuserMuuserMode:seuserMode:ruserMode:Mode:oduseuserMode:rMode:e::userMode::useuserMode:rMode:userMode:[1useuserMode:rMuserMode:ode:uuserModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2ususerMode:erMode:])userMode:;useuserMode:rMode:duserMode:e:e:		userMuseruserMode:ModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:seuserMode:rMode:], rt->userModususerMode:erMoususerMode:erMode:de:serMouuserMode:seuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMouserMode:de:uuserMode:serMode:ouserMode:de:userMode:de:userMode:userModuserMode:userMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseuserMode:ruserMuserMode:ode:ModuserMode:e:serMode:Mode:ususerModuserModuserMode:e:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserModuserMode:e:sususerMode:euserModuserMode:e:userMode:e:ouserModeuserMode:userMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMuserMode:ode:oduserMode:e:seruserModeuserModususerMode:erMode:e::userModeususerMode:eruserMode:Mode::Mode:de:.cuseruserMode:useruserMode:Mode:MouseruserMuserMode:ode:uuserMode:suserMode:erMode:MouserMode:de:uuserMode:seruserMode:Mode:userModeuserMouserMode:de::de:userMode:pp:userMouserModuuserMode:serMode:e:de:	ususerMode:erMode:		userMouserMode:de:			ususerMode:erModuserMode:euserMode::rt-userModeuserMode:userMode::>userMouserMode:de:xuseruserModeuserMode::Mode:ee[1userMouserMode:deuseruseuserMouserMode:duserMode:e:rMode:MoususerMode:erModuseruserMode:Mode:euserModuserMode:e::de::userMode:], 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useruserMode:uuserMode:serMode:MouserMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMode:->uuserModeuseruserMode:Mode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruserMode:Mode:ModuserMode:ususerMode:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userMode:userMode:serModuserMode:e:useuserMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:de:seruserMode:Mode::MuserMode:oduserModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMode:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserModuserMode:e::MuseuserMuserMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: userModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuserMode:rMuserMode:ode:usususerMode:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:ModeuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:userMode:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserModuserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]userMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:userModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userMode:>dqususerMode:erModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:ode:e:MususerMode:eruserModuserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:ModeuserMode::3*rt->userMode:userMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:userMode:seruseususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuserMode:oduserMode:e:uususerMode:erMouseruserMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserMode:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMouserMode:deuserMode::MuserMouserMode:de:ode: ruserMode:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:userMode:]uuserMode:serMode:userMode:, userMode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::ode:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMode:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:de:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMode:de:Mode:uuserMode:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserModeuserMode::e:useuserMode:rMouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuserMode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserMode::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuserMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuseuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserModeuserMode:::Mode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeuserModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouserMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:userModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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(tuuseruserMouserMode:de:ModuserMode:e:seruseuserMode:rMode:Mode:imuuserMode:serMode:e4ususeruserMode:Mode:erMode:-tuseuserMode:ruuserMode:serMode:Mode:uuuserMode:serMode:userMode:serModuserModeuserMode::euuseruserMode:Mode:serModeuseuseruseuserMouserMode:de:rModuserMode:e:Mode:ruserMode:uuseuseruserMode:ModuserMode:e:useuseruserMode:Mode:rMode:ruserMode:MouserMuserMode:ode:de:e:odeuserMuserModeuserModeuserMouserMode:de:::ode::ruserMode:t->timeuuseruserMode:Mode:serModuserMode:e:userMouserMode:deuserMode::useuserModuserModeuserMode::e:userMode:userMode:ruserModuserModeuseruserMode:Mode::e:Mode:userModuserModeuserMode::euuserMuserMode:odeuuserMode:serMode::userMode:MouuuserModeuserMode:useuseuuseruserMode:Mode:suserMode:eruserMode:MouserMode:duserMode:e:rMode:rMouserMode:duserMode:euserMouserMode:de:::suserModuserModuseruserMode:Mode:e:e:erModeuserMode::seruserMode:MouserMuseuserMode:rMuserMode:ode:ode:deuserMouserModuserMode:e:duserMode:euuseruserMode:Mode:seuserMode:rMode:::useruserMode:Mode:de:userMode:usususerMode:erMode:userMouserMode:de:erMode:userMuserMode:useruserMode:Mode:ode:useuseruserMode:ModuserMode:e:useuserMode:rMode:ruserMode:Mode:ususerMode:erMuserMode:ode:uuseuseruserMouseruserMode:Mode:de:Mode:rMode:serModuseuserMode:rMode:e:useuseuserModuserMode:e:rMode:rMode:tuuserMode:serMuserMode:ode:ch(ruseruserMode:Mode:t-userMode:>uuseuserMususerMode:erModeuserMode::ode:ruserMode:MouserMode:de:seruserModeuserMode::_modeuserMuuseruserMode:Mode:serMode:useuserMode:rususerMode:erMode:ModuserMuserMouserMode:de:ode:e:oduserMode:ususerMode:eususerMode:eususeruserMode:Mode:erMode:rMode:rMoususerMuserMode:ode:erMode:de:e:useususerMode:erMuserMode:odeuseususerMode:erMode:rMode:uuseuseruserMode:Mode:rMode:serModuseruserModuserMode:e:Mode:e::rMode:)useruserMode:Mode:userusuuserMode:serMode:userMode:erMode:MuseruserMode:Mode:ode:ususerMode:erMuseruuserMode:serMode:ModuserMode:euserMode::odeuserMode::useruseuserMode:rMode:ususerModeuseruserMode:Mode::erMode:MouserMuserModeuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::rMouserModeuserMode::userMode:de:>x[0uuseuserMode:rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduserModeuserMode::useuserMode:rMode:euseuserMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserMode:Mode:erMode:erMode:e:rMouseruserMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serMode:Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruserMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuserMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserModeuserMode::suserMode:userMode:erMuserMode:oususeruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:MuserMode:userMode:ode:t-userMuserMode:oduserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::duserMode:e:[1ususeuseuserMode:rMode:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:e::], rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:Mode:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserModuseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuserMode:e:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode::MuseuserMode:rMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserMode:de:::Mode:orguseruserModuserModuserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMususerMode:erMode:ode:euserMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:suserMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::seruserModeuserMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1], rt-uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erMuserMode:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserMode:ModuserMode:e:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:ModeususeuseruseuserMode:rMode:Mode:rMode:erMode::l[0], 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ruserMode:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:userMode:]uuserMode:serMode:userMode:, userMode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::ode:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:de:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMode:de:Mode:uuserMode:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserModeuserMode::e:useuserMode:rMouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuserMode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuserMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserMode:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserModeuserMode:::Mode:userMode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeuserModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouserMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuserMode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, 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rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], 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0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruserMode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:tfuseruseruseruserMode:Mode:Mode:Mode:[i]useruserMode:ModuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:e:=useruseruserMode:Mode:Mode:userMode:useuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:seuserMuserMode:ode:rMuseruseruserMode:Mode:Mode:ode:ModeuseruserMode:ModuseruseuseruserMode:Mode:rModeuserMode::MouserMode:deuserModeuseruserMode:Mode:::e::ususerModuseuserMode:rMode:e:euuseruserMode:Mode:serMode:rMode:useuserMode:ruserMuseruseruserMode:Mode:Mode:ode:MuserModuserMode:e:ouseruseuseruserMode:Mode:rModeuserMode::MouserMode:de:deuserMuseruserMode:Mode:odeuserMode:::useuserMode:rMode:, rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:Mode:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:eruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:Mode:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:Mode:suserMode:useruserMode:Mode:eruuseuserMode:rMuseruserMode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:Mode:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::euuseruserMode:Mode:serMode::Mode::[iuseruserMode:Mode:]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuserMode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::[0]userModeuseruseruserMode:Mode:Mode::);
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uuserMode:seuseruserMode:uuserMode:serMode:Mode:userModeuserMode::rMuseruseruserMode:Mode:Mode:oduserMode:e:rtuserMouserMode:de:-userModeuserMode::>userMode:uususerMode:euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::ModeuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuserMode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::ModuserMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuserususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:ode:rMode:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserModuserMode:e:useruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:userMode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuserModeuserMode::eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::erMode:deuserMuuserMode:suserMode:erModeuserMode::ode::,userMode:uuserModuserMode:e:serModeuserModuserModuserMode:e:e::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euserMode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:erMode:rMode:Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:useuseruserMode:Mode:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serMuserMode:oduseruseuuserMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuuserMode:serMode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserModuserMode:e:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, userMode:rt->userMode:uuuserModeuserMode::serMouserMode:de:userModuserususerMode:euserMode:rMode:Mode:uuserMode:serMode:e:userMode:suserMode:erModususeruseuserModuserMode:e:rMode:MouserMode:de:userMode:userMode:euserMode:rMuserModeuserMode::ode:e:ususeuserMode:ruserMode:MuserModeuseuserMode:rMode::odeuserMode::erMuserModuserMuseuserMode:rMouserMode:de:ModuuserMode:serModuserMode:e:e:ususeruserMode:Mode:euserMode:rMode:userModuseuserMode:rMode:e: = userMode:tiuserMode:userMode:muserMode:e useuserMode:rMode:- rtuserModuserMode:e:-useuserMode:rMode:>userMode:xtimeuuseruserMode:userMode:ModeuuserMode:ususerMouserMode:de:erMouseruseruserModuserMode:e:Mode:ModuserMode:e:de:serMode::serModuseuserModeuserMode::rMode:euserMode::useruserMode:MouserModeuserMode::de:;	userMode:// ususerMode:eruserMode:MuserMode:ode:ruserModuserMode:userMode:uuserMode:suserMode:erMode:e:t->xtuserModuserMode:e:iuserModuserMode:e:muserMode:e userModeuserMode::iuserModeuserMode::userMode:s userMode:usuuserModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:serMode:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserMode:userMuserMode:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rModeuserMode:uuserModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserMode:e:Mode:deuuserMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:MuserMode:odususerMode:erModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserModuseruserMode:Mode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userModuserMode:e:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserMuserMode:odeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::userMode:	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] =userMode:usususeruserMode:Mode:erMuserMode:oduserMuserModuserMode:e:ouserMode:de:userMode:e:erususeruserMode:Mode:eruserMode:ModususeuserMode:rMode:erMode:euserMode::useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMouserMode:de:seruserModeuserMode::Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:euserMode::oduserMode:ususerMode:euserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMususerMode:erMode:oduserMuserMode:ode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserModuserMode:e:rMode:MuserMuserMode:oduserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:userMode:e:userMode:useuserMode:rMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:uuserMode:seruserModeuseuserMode:rMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouuserMode:serMode:de:odeuserMode::userMuserMode:ouserMode:de:useuserMode:rMode:useruserMode:Mode:usuuserMode:seruseruserModuserMode:e:MuserMode:odeuserMode::ouserModeuserMode::deuseruserMode:MouseuseuserMode:rMode:rMode:deuserMode:::userMode:userMode:mainuserMode:.cuuserMode:serMouserMode:deuserMouserMode:de::puuserModeuserMode::serMuseruseuserMode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	ruserMode:tuserMode:-uususerMode:euserMode:rMode:suserMode:erModuserMode:e:userModeuserMode::userMususerMode:erMode:ode:rt-userMode:>pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserModuserMode:e:rMode:	// rtuserMode:->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:houserMode:ususerMode:eruuserMode:serMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erMuseruserMode:Mode:odeuserModeuseuserMode:rMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMouserMode:de:oduserMode:euserMode::s tuserMode:userMouserMode:uuserMode:serMode:de:hususerModuseruseuserMode:rMode:Mode:e:euserMode:rMouuseuserModuserMode:e:rMode:serModeuserMode::userMode:deuuserMouuserMode:serModuserMode:e:deuuseuserMode:rMode:serMode:userMode::serMode::euserMode:useruserMode:userMode:MouserMode:de: ususerMode:erMode:uuserMode:userMouserModeuserMode::de:useuserMode:rMode:serMuseuseruserMode:MouserMode:de:useuserMode:rMouserMuserMode:ode:de:rMode:ouserMode:duserMode:e:userMode:seuserMode:rvuserModeususerMode:erModeuserMode:::o loususerMode:erMode:userModuserMode:e:ouserModuserMode:e:p userMode:cuserMode:ouuserMode:nuserMuserMode:ouserModuserMode:e:de:t userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode:userMode: %d\nuuserMode:serususeuserMode:ususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruuserMode:serMode:Mode:eruserModeuserMode::userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserModuserMode:e::userMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMuserMode:ouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:ruserMode:t->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMuserMode:ode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:MouserMode:de::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:ususerMode:erMode:[1]ususerMode:eruserMode:ModususerMode:userMode:euserMode:rMode:e:, 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rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:Mode:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserModuseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuserMode:e:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode::MuseuserMode:rMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserMode:de:::Mode:orguseruserModuserModuserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMode:userMususerMode:erMode:ode:euserMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuseuserMode:rMode:suserMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::seruserModeuserMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: 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userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuseruserMode:Mode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserModeuserMode:::Mode:userMode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeuserModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouserMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserMode::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:e:userMuseruserMode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] userMouseruserMode:Mode:de:= 0.useruseuseruseruserMode:Mode:Mode:ruseruserModeuseruserMode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:tfuseruseruseruserMode:Mode:Mode:Mode:[i]useruserMode:ModuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:e:=useruseruserMode:Mode:Mode:userMode:useuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:seuserMuserMode:ode:rMuseruseruserMode:Mode:Mode:ode:ModeuseruserMode:ModuseruseuseruserMode:Mode:rModeuserMode::MouserMode:deuserModeuseruserMode:Mode:::e::ususerModuseuserMode:rMode:e:euuseruserMode:Mode:serMode:rMode:useuserMode:ruserMuseruseruserMode:Mode:Mode:ode:MuserModuserMode:e:ouseruseuseruserMode:Mode:rModeuserMode::MouserMode:de:deuserMuseruserMode:Mode:odeuserMode:::useuserMode:rMode:, rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuseruserModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:eruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:Mode:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:Mode:suserMode:useruserMode:Mode:eruuseuserMode:rMuseruserMode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:Mode:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruserMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuserMode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::[0]userModeuseruseruserMode:Mode:Mode::);
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userMouserMode:de:useruseruserMode:ModuserMode:e:Mode:57ususerMuuseruserMode:Mode:serMode:ouserMode:de:euserModuserModeuserMode::userMode:e:ruuserMode:serMode:Mode:.useruuserMode:serMode:MouserMode:de:3*userMode:rt-uuuseuserMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususerMode:eruseruserMode:Mode:MuserMode:ode:ModeuserususerMode:userMode:erMode:useruseruserMode:Mode:MouserModuserMode:e:de:userMode:MuserModuserMode:e:userMode:ode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:Mode:57.3*userMode:rt->userMode:quseruserMode:Mode:[uuserMode:useuserMode:rMuserMode:oususerMode:eruseuserMode:rMode:Mode:de:userModuserMode:euseruserMode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouserMode:deuserModeuserMode:::deuserMode::ode:erMuuuserMode:serMode:serMouserModeuserMode:userMode::de:ouserMode:de:3],uuserMode:serMouserMode:userMode:de: 57.3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erMode::q[4uuserMode:suserMode:eruserMode:Mode:]useuserMode:rMouserMode:deuserModususerMode:erMuserMode:ode:e::ususerMode:erMode:uuserMouserMode:de:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuseruserMode:Mode:ode:Mode:serMouserMode:de:erMouserMode:deuseruserMode:Mode::e:userMode:useuserMode:rMouserModuserMouserModuserMode:e:de:e:de:userModeuseuserMode:ruserMode:ModeuserMode:::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouseuserMode:rMode:de:ode:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:userMode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuserMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMode:erModuserModeuuserMode:serMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serMode:Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duserMode:e:Mode:[ususerMode:erMode:ususerMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruserMouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuuserMode:serMode:ruseruserMode:Mode:ususerMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:userMode:_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMusususerMode:erMode:euserMode:rMode:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMode:->uuserModeuseruserMode:Mode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruserMode:Mode:ModuserMode:ususerMode:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userMode:userMode:serModuserMode:e:useuserMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:de:seruserMode:Mode::MuserMode:oduserModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserModuserMode:e::MuseuserMuserMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuserMode:rMuserMode:ode:usususerMode:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:userMode:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserModuserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]userMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:userModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userMode:>dqususeruserMode:Mode:erModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:ode:e:MususerMode:erususerMode:erModuserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:ModeuserMode::3*rt->userMode:uuserMode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:userMode:seruseususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuserMode:oduserMode:e:uususerMode:erMouseruserMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserMode:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMouserMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::ode:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:de:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMode:de:Mode:uuserMode:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserModeuserMode::e:useuserMode:rMuserMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuserMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMuserMode:ode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuseruserMode:Mode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t 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= userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModeuserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] 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rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususerMode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:eruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- 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57.3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erMode::q[4uuserMode:suserMode:eruserMode:Mode:]useuserMode:rMouserMode:deuserModususerMode:erMuserMode:ode:e::ususerMode:erMode:uuserMouserMode:de:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuseruserMode:Mode:ode:Mode:serMouserMode:de:erMouserMode:deuseruserMode:Mode::e:userMode:useuserMode:rMouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuserMode:e:ruserMode:ModeuserMode:::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouseuserMode:rMode:de:ode:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:userMode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuserMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMode:erModuserModeuuserMode:serMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serMode:Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duserMode:e:Mode:[ususerMode:erMode:ususerMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruserMouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuuserMode:serMode:ruseruserMode:Mode:ususerMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:userMode:_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMusususerMode:erMode:euserMode:rMode:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MouserMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMode:->uuserModeuseruserMode:Mode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMode:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruserMode:Mode:ModuserMode:ususerMode:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:Mode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userMode:userMode:serModuserMode:e:useuserMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:de:seruserMode:Mode::MuserMode:oduserModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserModuserMode:e::MuseuserMuserMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuserMode:rMuserMode:ode:usususerMode:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:userMode:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserModuserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]userMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMode:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useruserMode:ModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userMode:>dqususeruserMode:Mode:erModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:ode:e:MususerMode:erususerMode:erModuserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:ModeuserMode::3*rt->userMode:uuserMode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:userMode:seruseususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:de:Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuserMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserMode:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMouserMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::ode:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:de:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserMode:e:serMuserMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMode:de:Mode:uuserMouserMode:de:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserModeuserMode::e:useuserMode:rMuserMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserMode:de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuserMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMuserMode:ode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuseruserMode:Mode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserModeuserMode:::Mode:userMode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeuserModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouserMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuserMode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseruserMode:Mode:duserMode:euserMouserMode:de::MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:eruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- 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userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode:userMode: %d\nuuserMode:serususeuserMode:ususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruuserMode:serMode:Mode:eruserModeuserMode::userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserModuserMode:e::userMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMuserMode:ouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:ruserMode:t->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMuserMode:ode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:MouserMode:de::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:ususerMode:erMode:[1]ususerMode:eruserMode:ModususerMode:userMode:euserMode:rMode:e:, 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couuserMode:ususerMuserMode:ode:erMouserMode:deuserMode:useruserMode:Mode::suserMode:erMode:unuseuserMode:rMode:tuseuseruserMode:Mode:rMode:useuserModuserMode:e:userMode:rususeruserMode:Mode:erMode:ModuuserMode:seruserMode:ModuserMode:e:userMode:e: fuuserMode:serModuserMode:e:rususeuserModuseruserMode:Mode:e:rMode:userModeuseruseuserMode:rMode:Mode::eruserMode:Mode:om userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserMode:rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:euseuserMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMode:e:rMouseruserMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serMode:Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruserMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuserMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserModeuserMode::suserMode:userMode:erMuserMode:oususeruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:MuserMode:userMode:ode:t-userMuserMode:oduserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::duserMode:e:[1ususeuseuserMode:rMode:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:e::], rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:Mode:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserModuseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuserMode:e:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode::MuseuserMode:rMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserMode:de:::Mode:orguseruserModuserModuserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suserMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuserMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: rt-uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erMuserMode:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserMode:ModuserMode:e:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:ModeususeuseruseuserMode:rMode:Mode:rMode:erMode::l[0], 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ususeruserMode:Mode:eruserMode:MousuuserMuserMode:oduuserMode:serMode:e:serMouserMode:de:ouserMode:duserMode:euserModeuseuserMode:rMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeususeuserMode:rMode:erMode:: ususerMode:erModeuserMuserMode:ode:userModususerMouseuserMode:rMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:MouserMode:de:ModuserMode:eususerMode:erMode::userMode:oduserMode:e:e::57.3*rt->jguseuseuserMode:rMode:rModuserModeuserMode::e:ouseruseruseususerMuserMode:odeuseruserModeuserMode::Mode::erMode:rMuserMuserModeususerMode:erMode::ode:oduuseruseuserMode:rMode:Mode:seruserModeuuserMode:serMode:userMode::Mode:euserMususerModuseuserMode:ruserMode:Mode:euserMode:						userMode:57.3*rtuserMode:->uuseuserMode:rMode:serModeuserMode::userModeuserMode::uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMuserMode:ode:serModususeruseuseuserMode:rMode:rMode:rMode:userMode:useruserMode:Mode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMouseruserModuseuserMode:rMode:e:Mode:duserModuserMode:euserMode::euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 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rt->userModuuserMode:suserMode:erMoususerMode:erMode:de:serMouuserMode:seuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMouserMode:de:uuserModeuserMode::serMode:ouserMode:de:userMode:de:userMode:userModuserMode:userMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseuserMode:rususerMode:erMuserMode:ode:ModuserMode:e:serMode:Mode:ususerModuserModuserMode:e:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserModuseuserMode:rMode:e:sususerMode:euserModuserMode:e:userMode:e:ouserModeuserMode:userMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMuserMode:ode:oduserMode:e:seruserModeuserModususerMode:erMode:e::userModeususerMode:eruserMode:Mode::Mode:de:.cuseruserMode:useruserMode:Mode:MouseruserMuserMode:ode:uuserMode:suserMode:erMode:MouserMode:de:uuserMode:seruserMode:Mode:userModeuserMouserMode:de::de:userMode:pp:userMouserModuuserMode:serMode:e:de:	ususerMode:erMode:		userMouserMode:de:			ususerMode:erModuserMode:euserMode::rt-userModeuserMode:userMode::>userMouserMode:de:xuseruserModeuserMode::Mode:ee[1userMouserMode:deuseruseuserMouserMode:duserMode:e:rMode:MoususerMode:erModuseruserMode:Mode:euserModuserMode:e::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMouserMode:de:ouseruserModuserMode:e:Mode:duserMode:ususeuserMode:rMode:erMode:e:tuserMode:->xuseuserMode:rModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rMouserMode:deuserMode::useuserMode:rMode:uuserMode:suseususerMode:erMode:rModeuseuserMode:rMode:uuserMode:serMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMouserMode:de:rt->ususerMouserMode:de:erMode:F[0]uuserModuserMode:e:serModeuserMode:userModuserMouserMode:deuserMode::e:ususuuserModuserModuserMode:e:e:serMouserModuserMode:e:de:userMode:duserMode:e:teuseruserMode:Mode:userMode:userMode:r_userMode:org.cpp:	ususerMode:erMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuseruserMode:Mode:uuserMode:serususerMode:erMode:ModeuseruserModuserMode:e:Mode::serMode:userModuserMoususerMode:erMode:de:e:rtuseruserMode:userMouserMode:deuseuserMouserMode:de:ususerMode:eruserMouserModuserMode:e:de:Mode:rMuserMode:ouserMode:de:userMode:userMode::MouseuseruserMode:Mode:rMode:de:->userMode:uususeususerMode:eruserMode:Mode:rMode:erMuserMode:ode:seruserModeuserMode::ModeuserMode::F[useususerMode:erMode:rMode:1], 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ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::ode:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:de:serMuserMode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserMode:e:serMuseuserMode:rMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMode:de:Mode:uuserMouserMode:de:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserModeuserMode::e:useuserMode:rMuserMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuserMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMuserMode:ode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuseruserMode:Mode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserModeuserMode:::Mode:userMode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeuserModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouserMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruserModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruserMode:Mode:		rt->tf[i] 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userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode:userMode: %d\nuuserMode:serususeuserMode:ususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruuserMode:serMode:Mode:eruserModeuserMode::userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserModuserMode:e::userMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMuserMode:ouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:ruserMode:t->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMuserMode:ode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userMode:erModeuseruserMode:MouserMode:de::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rt->xuuserModuserMode:e:serMode:ususerMode:erMode:[1]ususerMode:eruserMode:ModususerMode:userMode:eususerMode:erMode:rMode:e:, 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userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMuserMode:ode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuseruserMode:Mode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t 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useruserMouserMode:deuserModeuserMode:::Mode:userMode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeuserModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOIuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:Mode:ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruserMode:Mode:ruserMode:ModeuseruseruserMode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:tfuseruseruseruserMode:Mode:Mode:Mode:[i]useruserMode:ModuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:e:=useruseruserMode:Mode:Mode:userMode:useuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:seuserMuserMode:ode:rMuseruseruserMode:Mode:Mode:ode:ModeuseruserMode:ModuseruseuseruserMode:Mode:rModeuserMode::MouserMode:deuserModeuseruserMode:Mode:::e::ususerModuseuserMode:rMode:e:euuseruserMode:Mode:serMode:rMode:useuserMode:ruserMuseruseruserMode:Mode:Mode:ode:MuserModuserMode:e:ouseruseuseruserMode:Mode:rModeuserMode::MouserMode:de:deuserMuseruserMode:Mode:odeuserMode:::useuserMode:rMode:, rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::de:] = rt->q[uususerMode:erModeuseruseruserMode:Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:eruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:Mode:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:Mode:suserMode:useruserMode:Mode:eruuseuserMode:rMuseruserMode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuserMode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::[0]userModeuseruseruserMode:Mode:Mode::);
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57.3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erMode::q[4uuserMode:suserMode:eruserMode:Mode:]useuserMode:rMouserMode:deuserModususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuseruserMode:Mode:ode:Mode:serMouserMode:de:erMouserMode:deuseruserMode:Mode::e:userMode:useuserMode:rMouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuserMode:e:ruserMode:ModeuserMode:::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouseuserMode:rMode:de:ode:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:userMode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuserMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMode:erModuserModeuuserMode:serMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serMode:Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duserMode:e:Mode:[ususerMode:erMode:ususerMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruserMouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuuserMode:serMode:ruseruserMode:Mode:ususerMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:userMode:_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMusususerMode:erMode:euserMode:rMode:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMode:->uuserModeuseruserMode:Mode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruserMode:Mode:ModuserMode:ususerMode:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userMode:userMode:serModuserMode:e:useuserMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:de:seruserMode:Mode::MuserMode:oduserModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserModuserMode:e::MuseuserMuserMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuserMode:rMuserMode:ode:usususerMode:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMode:Mode:::MoususerMode:userMode:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuuuserMode:serMode:serModeuserModuserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserMode:serMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserMode:de:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useruserMode:ModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userMode:>dqususeruserMode:Mode:erModeuuserMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:ode:e:MususerMode:erususerMode:erModuserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:ModeuserMode::3*rt->userMode:uuserMode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:userMode:seruseususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuserMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserMode:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMouserMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::ode:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMode:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:de:serMuserMuserMode:ode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserMode:e:serMuseuserMode:rMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMode:de:Mode:uuserMouserMode:de:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserModeuserMode::e:useuserMode:rMuserMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuserMode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuserMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMuserMode:ode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuseruserMode:Mode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserModeuserMode:::Mode:userMode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruserMode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= 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rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:Mode:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:Mode:suserMode:useruserMode:Mode:eruuseuserMode:rMuseruserMode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuserMode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::[0]userModeuseruseruserMode:Mode:Mode::);
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userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode:userMode: %d\nuuserMode:serususeuserMode:ususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruuserMode:serMode:Mode:eruserModeuserMode::userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserModuserMode:e::userMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMuserMode:ouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:ruserMode:t->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMode:ode:deuserMuserMode:ode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userModuserMode:e:erModeuseruserMode:MouserMode:de::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rtuserMode:->xuuserModuserMode:e:serMode:ususerMode:erMode:[1]ususerMode:eruserMode:ModususerMode:userMode:eususerMode:erMode:rMode:e:, userMode:rususerMode:erMuserMode:ode:iususerMode:euserMouserMode:de:ruseuserModuseuserMode:rMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduseuserMode:rMode:,0) == uususerModuserMode:e:erModeuserMode::serMouserMode:de:useruseruserModeuserMode::Mode:ModuserMususerMode:eruseruserMode:userModeuserModeuserMode:::MuserMode:odeuserMode::Mode:ode:useruserModuserModuserMode:euserMouserMode:de::e:MouserModuserModuserMode:euserMode::e:duseuserusuuserMode:serModuserMode:e:uuserMode:er_org.useuserModuserMode:e:userMode:ruuserMode:serMode:MouserMode:duserMode:e:cuuserMode:seruuseuserMode:rMode:seuserMode:rMode:Mode:userMode:ppususerMode:erMode::			// rt->uuserMode:serModeuseuseruserMode:Mode:rMode::tiuserMode:me userMouserMode:dususeruserMode:Mode:erMode:euseuserMode:rMouserMode:de::userMode:iuserMode:userMuserMode:ode:s userMode:userModeuserModuseruserMode:Mode:e::timuuserMode:useruseuserMode:rMode:Mode:seruserMode:Mode:e 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couuserMode:ususerMuserMode:ode:erMouserMode:deuserMode:useruserMode:Mode::suserMode:erModeuserMode::unuseuserMode:rMode:tuseuseruserMode:Mode:rMode:useuserModuserMode:e:userMode:rususeruserMode:Mode:erMode:MuserMode:oduuserMode:seruserMode:ModuserMode:e:userMode:e: fuuserMode:serModuserMode:e:rususeuserModuseruserMode:ModeuserMode::e:rMode:userModeuseruseuserMode:rMode:Mode::eruserMode:Mode:om userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserMode:rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:euseuserMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMode:e:rMouseruserMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serMode:Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruserMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuserMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserModeuserMode::suserMode:userMode:erMuserMode:oususeruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:MuserMode:userMode:ode:t-userMuserMode:oduserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::duserMode:e:[1ususeuseuserMode:rMode:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:e::], rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:Mode:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserModuseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserModuserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suserMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuserMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: rt-uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erMuserMode:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserMode:ModuserMode:e:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:ModeususeuseruseuserMode:rMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMoususerMode:erMode:de:.3*ususeruseuserMode:rMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMode:userMode:userMouuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[userMode:ususerMouserModuserMode:e:de:euuserMode:serMode:rMuserMuseruseuserMode:rMode:Mode:uuserMode:suserMode:erususerMode:erMode:de:ouserMode:userMode:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruseuserMode:rMode:Mode:ruserMode:userMode:MuuserModeuseruserMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruseuserMode:rMode:Mode:erMode:userMode::deuserMode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruseuseruserMode:Mode:rMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	userMode:57userMode:useuserMode:rMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruseruserMode:MuserMode:ode:ModeuserMode::MuseuserMode:rMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuseuserMode:rMode:seruserMode:MuserMode:odeuserMode::[3]useuseuserMode:rMode:rMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserMuserMode:oduuserMode:serMode:e:serMouserMode:de:ouserMode:duserMode:euserModeuseuserMode:rMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeususeuserMode:rMode:erMode:: ususerMode:erModeuserMuserMode:ode:userModususerMouseuserMode:rMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:MouserMode:de:ModuserMode:eususerMode:erMode::userMode:oduserMode:e:e::57.3*rt->jguseuseuserMode:rMode:rModuserModeuserMode::e:ouseruseruseususerMuserMode:odeuseruserModeuserMode::Mode::erMode:rMuserMuserModeususerMode:erMode::ode:oduuseruseuserMode:rMode:Mode:seruserModeuuserMode:serMode:userMode::Mode:euserMususerModuseuserMode:ruserMode:Mode:euserMode:						userMode:57.3*rtuserMode:->uuseuserMode:rMode:serModeuserMode::userModeuserMode::uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMuserMode:ode:serModususeruseuseuserMode:rMode:rMode:rMode:userMode:useruserMode:Mode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMouseruserModuseuserMode:rMode:e:Mode:duserModuserMode:euserMode::euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 5userMode:7.3uuseruseuserMode:rMode:Mode:suserMususeuserMode:rMode:erMode:ode:eruserModuserMuserMode:useruseruserMode:Mode:Mode:ode:e:userMode:Mode:*rt-userModeuserMode:userMuserMode:oduseruserMode:ModeuseuserMode:rMode::serususerMode:erMode:ModuserMode:e:userModeuserMode:::de:		userMususerMode:erMode:ode:			rt->x_duserMode:euserMode:suseuseuserMoususeruseuserMode:rMode:Mode:eruseuserMode:rMode:userMode:Mode:deuuserMuserMode:ode:seuserModuserModuserMode:e:e:rMuuserMode:serMode:ode::rMuserMode:oduuserMode:serModuuseuserMode:rMode:serMouserMode:de:e:e:ruseuseruserMode:Mode:rMouserMode:de:ModeuserModeuserMuuserMode:seuserMode:ruserMode:Mode:oduseuserMode:rMode:e::userMode::useuserMode:rMode:userMode:[1userMode:useuserMode:rMuserMode:ode:uuserModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2ususerMode:erMode:])userMode:;useuserModeuserMode::rMode:duserMode:e:e:		userMuseruserMode:ModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:seuserMode:rMode:], rt->userModuuserMode:suserMode:erMoususerMode:erMode:de:serMouuserMode:seuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMouserMode:de:uuserModeuserMode::serMode:ouserMode:de:userMode:de:userMode:userModuserMode:userMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseuserMode:rususerMode:erMuserMode:ode:ModuserMode:e:serMode:Mode:ususerModuserModuserMode:e:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserModuseuserMode:rMode:e:sususerMode:euserModuserMode:e:userMode:e:ouserModeuserMode:userMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMuserMode:ode:oduserMode:e:seruserModeuserModususerMode:erMode:e::userModeususerMode:eruserMode:Mode::Mode:de:.cuseruserMode:useruserMode:Mode:MouseruserMuserMode:ode:uuserMode:suserMode:erMode:MouserMode:de:uuserMode:seruserMode:Mode:userModeuserMouserMode:de::de:userMode:pp:userMouserModuuserMode:serMode:e:de:	ususerMode:erMode:		userMouserMode:de:			ususerMode:erModuserMode:euserMode::rt-userModeuserMode:userMode::>userMouserMode:de:xuseruserModeuserMode::Mode:ee[1userMouserMode:deuseruseuserMouserMode:duserMode:e:rMode:MoususerMode:erModuseruserMode:Mode:euserModuserMode:e::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMouserMode:de:ouseruserModuserMode:e:Mode:duserMode:ususeuserMode:rMode:erMode:e:tuserMode:->xuseuserMode:rModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rMouserMode:deuserMode::useuserMode:rMode:uuserMode:suseususeuserMode:rMode:erMode:rModeuseuserMode:rMode:uuserMode:serMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMouserMode:de:rt->ususerMouserMode:de:erMouserMode:de:F[0]uuserModuserMode:e:serModeuserMode:userModuserMouserMode:deuserMode::e:ususuuserModuserModuserMode:e:e:serMouserModuserMode:e:de:userModeuserMode::duserMode:e:teuseruserMode:Mode:userMode:userMode:r_userMode:org.cpp:	ususerMode:erMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuseruserMode:Mode:uuserMode:serususerMode:erMode:ModeuseruserModuserMode:e:Mode::serMode:userModuserMoususerMode:erMode:de:e:rtuseruserMode:userMouserMode:deuseuserMouserMode:de:ususerMode:eruserMouserModuserMode:e:de:Mode:rMuserMode:ouserMode:de:userMode:userMode::MouseuseruserMode:Mode:rMode:de:->userMode:uususeususerMode:eruserMode:Mode:rMode:erMuserMode:ode:seruserModeuserMode::ModeuserMode::F[useususerMode:erMode:rMode:1], rt-useuserModeuserMode::rMode:>ususeuseruserMode:Mode:rMususerMode:erMode:ouserMode:de:erMuserMode:ode:F[2]ususerMuserMode:ode:erModeuserMode::ususerMode:eruserModeuserMode::MouseuserMouserMode:de:rMode:de:userModeuserMouserMode:duserMouserMode:de:e::userModeususerMode:erMuserMode:oususerMode:erMode:de::userMode:uuuserMode:serModuserMode:e:seuseruserModeuserMode::MuseuserMode:useuserMode:rModuserMode:e:ruserMode:Mode:oduserMode:userMode:euserMode:dusususerMode:erModeuserMode::erModeuserMode::eususerModeuserMode::eruserModuserMode:e:Mode:uuserMode:serMode::ter_orguserModuserMode:e:userMode:.cpp:	uuserMode:serMode:	userMouserMode:de:			uuserMode:seuseruserMode:ususerMode:erMode:Mode:userMoususerMode:eruserMouserMode:de:userMode:Mode:duserMode:e:rMuserMouserMouserModuserMode:e:de:de:ode:	rtuserMode:userModeusuuserMode:seuserMode:rMode:eruserMode:Mode::->userususerMode:erMode:MuserMode:ode:uuserMode:suserMouserMode:deususerMode:erMuseruserMode:MuuserMode:serMuserMode:ode:oususerMode:erModeuserMode::duseuserModeuseuserMode:rMode:userMode::rMode:euserMode::ouserMode:de::eruserMode:Mode:xuserModuserMode:e:userMode:goal[1]userModeuserMode::,rt-userMode:>xuseuuserMode:seuserMode:rMode:rMode:userModeususerModeuuserMode:serMode:userMode::erModuserModuserMode:e:userMode:e::guserModuserMouserMode:de:e:oauserModeuserMode::luserMode:uuserMode:serMuserMouserMode:duserMode:e:oduseuserMode:rModeuserMode::e:[2])uuserMode:serModeuserMode:rt->useruserMouserMouserMode:de:duuserMode:serMode:userMode:e:useususerMode:erModuuseruserMode:ModuserMode:e:serMode:e:rMode:MuserMode:oususerMode:userModeuserMode::erModuserMode:e:duserModeuserMouserMode:de::euseuserMode:ruserMode:Mode::xuserModeuserMode::userMuseuserModuserususerMode:erModeuserMode::ModeuserMode::euserMode::rModeususerMode:erMode::ode:[userMode:userMode:userMode:userMode:1useruuseruserMode:Mode:serModuseruserMode:Mode:e:Mode:uuserModeuuserMode:serMode::serMuserMode:oduserModuserMode:e:euserMuserMode:odeuuseruserModeuserMode::Mode:userMode:serMouserMode:de:::userMode:], rt->x[2]uuseuserMode:rMouserMode:de:serModeuserMode::useuuserModeuserMode::serMode:userMode:rMode:ususerMode:erMuserMode:ode:userMouserMode:uuserMode:seuserMode:ruserMouserMode:de:userMuserModuserMode:e:oduserMode:e:MuserMouserMode:de:ode:de:userModuserMode:e:usuuserMode:suserMususerMode:erMode:oduseruserMode:Mode:e:euserMode:rMouseruserMode:ModeuserMode::duserMode:e:euuserMode:serModuserMode:e:rMoususerMode:erModeuuserMode:suserMode:erModuserMode:euserModuserMode:e:::userMode:de:ususerMode:userMouserMode:de:eruuserMode:seuserMode:userMode:rMuseruserMode:Mode:userMode:ode:ModeuserMode::userMode:uuserMode:seuserMode:userMode:rMuseuseuseruserMode:Mode:rMouuserMode:serMode:de:rModuseruserMode:Mode:e:oduserMode:ususerMuserModeuserMode::ode:euuserMode:serModuserMode:euserMode::rMode:eususerModuseruserMode:Mode:e:uuseruserMode:Mode:serMode:erMuserMode:ouseruseruserModeuseuserMode:ruserMode:Mode::Mode:ModeuserMode::userModususerMode:useuserMode:rMode:eruserMode:MouserMode:de:userMode:e:userMouseruserMode:Mode:de:userMouserMode:userModeuserMode::de:uuserMode:suserMode:euserModuserModuserMode:e:e:userModuserMode:e:userMode:ruserMuserMode:ode:ModuserMode:userMode:e:rt->ususeruseruserMode:Mode:Mode:erMode:xee[0useruseruserMode:ModuserMode:e:MuserMouserMode:de:userMode:oususerMode:erMouseuserMode:rMode:userMode:de:duuserMode:serModuseruserModuserModuserMode:e:e:MuserMuseruserMode:Mode:ode:ode:e:e:useruserMode:Mode:userMode:useuseruseruserMode:Mode:Mode:rMode:ususeuseuserMode:rMode:userModuserMode:e::serususerMode:useuserMode:rMode:erModuserMode:e:ModeususeruserMode:Mode:useuserMode:rMode:euserMode:rususeuserMode:rMode:euserMode:rMode:Mode::rt->ususerMode:erModeuserMode::xeeuserMode:[uuserMode:serMode:1ususerModuserMode:e:userMode:eruserMouseruserMode:Mode:userMouserMode:de:de:userMode:ususerMode:erMouserMuserMode:oduserMode:e:duseuserMuseruserMode:Mode:oduserususerMode:erMode:Mode:e:rMode:e:MuseruserMode:MouserMode:de:oduseuseruserMode:Mode:rMouserMuserMode:ode:de:e:], 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57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:ModeuserMode::3*rt->userMode:uuserMode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuserMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserMode:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMouserMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:e:Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::ode:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModeuserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:de:serMuserMuserMode:ode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserMode:e:serMuseuserMode:rMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMode:de:Mode:uuserMouserMode:de:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruserModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserModeuserMode::e:useuserMode:rMuserMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuseruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuserMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeuserModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMuserMode:ode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuseruserMode:Mode:serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserModeuserMode:::Mode:useruserMode:Mode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:useuseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruserMode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruserMode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:tfuseruseruseruserMode:Mode:Mode:Mode:[i]useruserMode:ModuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:e:=useruseruserMode:Mode:Mode:userMode:useuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:seuserMuserMode:ode:rMuseruseruserMode:Mode:Mode:ode:ModeuseruserMode:ModuseruseuseruserMode:Mode:rModeuserMode::MouserMode:deuserModeuseruserMode:Mode:::e::ususerModuseuserMode:rMode:e:euuseruserMode:Mode:serMode:rMode:useuserMode:ruserMuseruseruserMode:Mode:Mode:ode:MuserModuserMode:e:ouseruseuseruserMode:Mode:rModeuserMode::MouserMode:de:deuserMuseruserMode:Mode:odeuserMode:::useuserMode:rMode:, rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserMode:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:eruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:Mode:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:Mode:suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuserMode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::[0]userModeuseruseruserMode:Mode:Mode::);
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uuserMode:seuseruserMode:uuserMode:serMode:Mode:userModeuserMode::rMuseruseruserMode:Mode:Mode:oduserMode:e:rtuserMouserMode:de:-userModeuserMode::>userMode:uususerMode:euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::ModeuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuserMode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userMode:		userMuseuserMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::MouserMode:duserMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuseuserMode:rususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:ode:rMouserMode:de:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserModuserMode:e:ususerMode:eruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:useruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuseuserMode:rModeuserMode::eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::euserMode:rMode:deuserMuuserMode:suserMode:erModeuserMode::ode::,userMode:uuserModuserMode:e:serModeuserModuserModuserMode:e:e::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euserMode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:erMode:rMode:Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:useuseruserMode:Mode:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serMuserMode:oduseruseuuserMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuuserMode:serMode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserModuserMode:e:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, 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userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode:userMode: %d\nuuserMode:serususeuserMode:ususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruuserMode:serMode:Mode:eruserModeuserMode::userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserModuserMode:e::userMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMuserMode:ouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMode:ruserMode:t->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMouserMode:de:ode:deuserMuserMode:ode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userModuserMode:e:erModeuseruserMode:MouserMode:de::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rtuserMode:->xuuserModuserMode:e:serMode:ususerMode:erMode:[1]ususerMode:eruserMode:ModususerMode:userMode:eususerMode:erMode:rMode:e:, 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userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserMode:rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:euseuserMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMode:e:rMouseruserMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serMode:Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruserMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuserMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserModeuserMode::suserMode:userMode:erMuserMode:oususeruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:MuserMode:userMode:ode:t-userMuserMode:oduserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::duserMode:e:[1ususeuseuserMode:rMode:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:e::], rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:Mode:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserModuserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suserMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuserMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: rt-uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erMuserMode:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserMode:ModuserMode:e:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:ModeususeuseruseuserMode:rMode:Mode:rMode:erMode::l[0], 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rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuserMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuserMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserMode:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMuserMode:ode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuseruserMode:ModeuserMode::serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserModeuserMode:::Mode:useruserMode:Mode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::userMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruserMode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruserMode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:tfuseruseruseruserMode:Mode:Mode:Mode:[i]useruserMode:ModuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:e:=useruseruserMode:Mode:Mode:userMode:useuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:seuserMuserMode:ode:rMuseruseruserMode:Mode:Mode:ode:ModeuseruserMode:ModuseruseuseruserMode:Mode:rModeuserMode::MouserMode:deuserModeuseruserMode:Mode:::e::ususerModuseuserMode:rMode:e:euuseruserMode:Mode:serMode:rMode:useuserMode:ruserMuseruseruserMode:Mode:Mode:ode:MuserModuserMode:e:ouseruseuseruserMode:Mode:rModeuserMode::MouserMode:de:deuserMuseruserMode:Mode:odeuserMode:::useuserMode:rMode:, rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouserMode:de:Mode:->useruserMode:Mode:a0[iuuserModuserMode:e:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:eruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:Mode:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rModuseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuserMode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::[0]userModeuseruseruserMode:Mode:Mode::);
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uuserMode:seuseruserMode:uuserMode:serMode:Mode:userModeuserMode::rMuseruseruserMode:Mode:Mode:oduserMode:e:rtuserMouserMode:de:-userModeuserMode::>userMode:uususerMode:euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::ModeuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuserMode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:userModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:Mode::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userMode:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userModeuserMode::		userMuseuserMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::MouserMode:duserMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuseuserMode:rususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:ode:rMouserMode:de:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserModuserMode:e:ususerMode:eruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:useruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuseuserMode:rModeuserMode::eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::euserMode:rMode:deuserMuuserMode:suserMode:erModeuserMode::ode::,userMode:uuserModuserMode:e:serModeuserModuserModuserMode:e:e::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euserMode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:erMode:rMode:Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:useuseruserMode:Mode:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serMuserMode:oduseruseuuserMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuuserMode:serMode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserModuserMode:e:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, 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=userMode:usususeruserMode:Mode:erMuserMode:oduserMuserModuserMode:e:ouserMode:de:userMode:e:erususeruserMode:Mode:eruserMode:ModususeuserMode:rMode:erMode:euserMode::useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMouserMode:de:seruserModeuserMode::Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:euserMode::oduserMode:ususerMode:euserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMususerMode:erMode:oduserMuserMode:ode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserModuserMode:e:rMode:MuserMuserMode:oduserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:userMode:e:userMode:useuserMode:rMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMode:uuserMode:seruserModeuseuserMode:rMode::Mode:de:userModeuserMode::useruserMode:MuseuserMode:rMode:ouuserMode:serMode:de:odeuserMode::userMuserMode:ouserMode:de:useuserMode:rModuserMode:e:useruserMode:Mode:usuuserMode:seruseruserModuserMode:e:MuserMode:odeuserMode::ouserModeuuserMode:serMode::deuseruserMode:MouseuseuserMode:rMode:rMode:deuserMode:::userMode:userMode:mainususerMode:erMode:.cuuserMode:serMouserMode:deuserMouserMode:de::puuserModeuserMode::serMuseruseuserMuserMode:ode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	ruserMode:tuserMode:-uususerMode:euserModuserMode:e:rMode:suserMode:erModuserMode:e:userModeuserMode::userMususerMode:erMode:ode:rt-userModeuserMode::>pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserModuserMode:e:rMode:	// 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userModeususerMode:erModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuseruserMode:ModeuserMode::serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t 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useruserMouserMode:deuserModeuserMode:::Mode:useruserMode:Mode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuserMode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruserModeuseruserMode:Mode::ModeuseruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruserMode:Mode:Mode:erMode:useuseuseruserMode:Mode:ruserMode:Mode:rMouseruserMode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:tfuseruseruseruserMode:Mode:Mode:Mode:[i]useruserMode:ModuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:e:=useruseruserMode:Mode:Mode:userMode:useuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:seuserMuserMode:ode:rMuseruseruserMode:Mode:Mode:ode:ModeuseruserMode:ModuseruseuseruserMode:Mode:rModeuserMode::MouserMode:deuserModeuseruserMode:Mode:::e::ususerModuseuserMode:rMode:e:euuseruserMode:Mode:serMode:rMode:useuserMode:ruserMuseruseruserMode:Mode:Mode:ode:MuserModuserMode:e:ouseruseuseruserMode:Mode:rModeuserMode::MouserMode:de:deuserMuseruserMode:Mode:odeuserMode:::useuserMode:rMode:, rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useruserMode:Mode:MuserMode:ode:useuserMode:rMode:ruseuseruserMode:Mode:rMode:tuseruserMouseruserMode:Mode:de:Mode:->useruserMode:Mode:a0[iuuserModuserMode:e:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:eruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:Mode:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruserMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuserMode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::[0]userModeuseruseruserMode:Mode:Mode::);
userMuseruuserModuserMode:e:serMode:Mode:ouserModuserMode:euseruserMode:Mode::de:useruseuuserMode:ususerMode:erMode:serususerMode:eruserModeuseruserMode:Mode::MouserMode:de:Mode:useuserMode:rMouserMode:de:rMode:Mode:uusususeruserModeuserMode::Mode:erMode::e:cpp:useuserMode:rMode:	rt-useuserModuserModeuseuserMode:ruserMode:Mode::e:rMoususerMode:erModeuserMode::de:useuserModeuuserMode:serModuseruserMode:ModeuserMode::e::rMode:ususeuserMode:rMode:euserMode:ruserususerModeuseruseruserMode:Mode:Mode::erMouseruserMuserModuseruserMode:Mode:e:ouserMode:de:ModeuseuuserMode:suseruserMode:Mode:erMode:userMode:rModeuserMode:::userMode:dususeruserMuserMode:oduserModeuseruseuserMode:rMode:Mode::e:userMode:Mode:erModeuserMode::e:userMode:ModuseruuserMode:serMode:de:useruserModeuserMode::Mode:(1) && (rt->ususeuserModeuserMode::rMode:erEusuuserModeuserModeuseuserMode:ruserMode:Mode:::serMouserMode:duserMode:e:erMouserMode:deuserMode::xit 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userModeuserMode::usuuserModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMuserMode:ouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:serModuserMode:e:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserMode:userMuserModuserMode:e:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rModeuserMode:uususerMode:erModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserMode:e:Mode:deuuseuserMode:rMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:MuserMode:odususerMode:erModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserModuseruserMode:Mode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userModuserMode:e:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserMuserMode:odeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::userMode:	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] 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ususeruserMode:Mode:eruserMode:MousuuserMuserMode:oduuserMode:serMode:e:serMouserMode:de:ouserMode:duserMode:euserModeuseuserMode:rMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeususeuserMode:rMode:erMode:: ususerMode:erModeuserMuserMode:ode:userModususerMouseuserMode:rMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:MouserMode:de:ModuserMode:eususerMode:erMode::userMode:oduserMode:e:e::57.3*rt->jguseuseuserMode:rMode:rModuserModeuserMode::e:ouseruseruseususerMuserMode:odeuseruserModeuserMode::Mode::erMode:rMuserMuserModeususerMode:erMode::ode:oduuseruseuserMode:rMode:Mode:seruserModeuuserMode:serMode:userMode::Mode:euserMususerModuseuserMode:ruserMode:Mode:euserMode:						userMode:57.3*rtuserMode:->uuseuserMode:rMode:serModeuserMode::userModeuserMode::uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMuserMode:ode:serModususeruseuseuserMode:rMode:rMode:rMode:userMode:useruserMode:Mode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:userMouseruserModuseuserMode:rMode:e:Mode:duserModuserMode:euserMode::euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 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57.3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erMode::q[4uuserMode:suserMode:eruserMode:Mode:]useuserMode:rMouserMode:deuserModususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuseruserMode:Mode:ode:Mode:serMouserMode:de:erMouserMode:deuseruserMode:Mode::e:userMode:useuserMode:rMouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuserMode:e:ruserMode:ModeuserMode:::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouseuserMode:rMode:de:ode:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:userMode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMode:erModuserModeuuserMode:serMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duserMode:e:Mode:[ususerMode:erMode:ususerMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruseruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuuserMode:serMode:ruseruserMode:Mode:ususerMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:userModeuserMode::_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMusususerMode:erMode:euserMode:rMode:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMode:->uuserModeuseruserMode:Mode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruserMode:Mode:ModuserMode:ususerMode:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userMode:userMode:serModuserMode:e:useuserMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:de:seruserMode:Mode::MuserMode:oduserModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserMode:userModuserMode:e::MuseuserMuserMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserMode:rMode:rMuserMode:ode:usususerMode:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserMode:ode:Mode:::MoususerMode:userMode:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserMode:uuuserMode:serMode:serModeuserModuserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserMode:serMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserMode:de:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useruserMode:ModuserMode:e:euserMode::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userMode:>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:ode:e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:ModeuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuserMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserMode:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::ode:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:de:serMuserMuserMode:ode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserMode:e:serMuseuserMode:rMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rMode:rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMode:de:Mode:uuserMouserMode:de:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserModeuserMode::e:useuserMode:rMuserMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuserMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuseruserMode:ModeuserMode::serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t 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= userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserMode:ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] 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tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:Mode:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuserMode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::[0]userModeuseruseruserMode:Mode:Mode::);
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=userMode:usususeruserMode:Mode:erMuserMode:oduserMuserModuserMode:e:ouserMode:de:userMode:e:erususeruserMode:Mode:eruserMode:ModususeuserMode:rMode:erMode:euserMode::useruserMouserMode:deususerMode:erMode::Mode:ModeuserMode::uuserMouserMode:de:seruserModeuserMode::Mode:useuserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:euserMode::oduserMode:ususerMode:euserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMususerMode:erMode:oduserMuserMode:ode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserModuserMode:e:rMode:MuserMuserMode:oduserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:userMode:e:userMode:useuserMode:rMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMuserMode:ode:uuserMode:seruserModeuseuserMode:rMode::Mode:de:userModeuserMode::useruserMode:MuseuseuserMode:rMode:rMode:ouuserMode:serMode:de:odeuserMode::userMuserMode:ouserMode:de:useuserMode:rModuserMode:e:useruserMode:Mode:usuuserMode:seruseruserModuserMode:e:MuserMode:odeuserMode::ouserModeuuserMode:serMode::deuseruserMode:MouseuseuserMode:rMode:rMode:deuserMode:::userMode:userMode:mainususerMode:erMode:.cuuserMode:serMouserMode:deuserMouserMode:de::puuserModeuserMode::serMuseruseuserMuserMode:ode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	ruserMode:tuserMode:-uususerMode:euserModuserMode:e:rMode:suserMode:erModuserMode:e:userModeuserMode::userMususerMode:erMode:ode:rt-userModeuserMode::>pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserModuserMode:e:rMode:	// ruserMode:tuserMode:->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:houserMode:usususerMode:erMode:eruuserMode:serMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erMuseruserMode:Mode:odeuserModeuseuserMode:rMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMouserMode:de:oduserMode:euserMode::s tuserMode:userMouserMode:uuserMode:serMode:de:hususerModuseruseuserMode:rMode:Mode:e:euserMode:rMouuseuserModuserMode:e:rMode:serModeuserMode::userMode:deuuserMouuserMode:serModuserMode:e:deuuseuserMode:rMode:serMode:userMode::serMode::euserMode:useruserMode:userMode:MouserMode:de: ususerMode:erMode:uuserMode:userMouserModeuserMode::de:useuserMode:rMode:serMuseuseruserMode:MouserMode:de:useuserMode:rMouserMuserMode:ode:de:rMode:ouserMode:duserMode:e:userMode:seuserMode:rvuserModeususerMode:erModeuserMode:::o loususerMode:erMode:userModuserMode:e:ouserModuserMode:e:p userMode:cuserMode:ouuserMode:nuserMuserMode:ouserModuserMode:e:de:t userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode:userMode: %d\nuuserMode:serususeuserMode:ususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruuserMode:serMode:Mode:eruserModeuserMode::userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserModuserMode:e::uuserMode:serMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMuseruserMode:Mode:ouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMuserMode:ode:ruserMode:t->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMouserMode:de:ode:deuserMuserMode:ode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userModuserMode:e:erModeuseruserMode:MouserMode:de::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rtuserMode:->xuuserModuserMode:e:serMode:ususerMode:erMode:[1]ususerMode:eruserMode:ModususerMode:userMode:eususerMode:erMode:rMode:e:, 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userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserMode:rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:euseuserMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMode:e:rMouseruserMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serMode:Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruserMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuserMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserModeuserMode::suserMode:userMode:erMuserMode:oususeruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:MuserMode:userMode:ode:t-userMuserMode:oduserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::dususerMode:erMode:e:[1ususeuseuserMode:rMode:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:euserMode:::], rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserModuserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suserMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuserMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: rt-uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erMuserMode:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserMode:ModuserMode:e:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:ModeususeuseruseuserMode:rMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMoususerMode:erMode:de:.3*ususeruseuserMode:rMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMode:userMode:userMouuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[useuserMode:rMode:ususerMouserModuserMode:e:de:euuserMode:serMode:rMuserMuseruseuserMode:rMode:Mode:uuserMode:suserMode:erususerMode:erModuserMode:e:de:ouserMode:userMode:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruseuserMode:rMode:Mode:ruserMode:userMode:MuserMode:uuserModeuseruserMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruseuserMode:rMode:Mode:eruserMode:Mode:userMode::deuserMode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruseuseruserMode:Mode:rMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	userMode:57userMode:useuserMode:rMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruseruserMode:MuserMode:ode:ModeuserMode::MuseuserMode:rMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuseuserMode:rMode:seruserMode:MuserMode:odeuserMode::[3]useuseuserMode:rMode:rMode:,userMode: 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ususerMode:erModeuserMuserMode:ode:userModususerMouseuserMode:rMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:MouserMode:de:ModuserMode:eususerMode:erMode::userMode:oduserMode:e:e::57.3*rt->jguseuseuserMode:rMode:rModuserModeuserMode::e:ouseruseruseususerMuserMode:odeuseruserModeuserMode::Mode::erMode:rMuserMuserModeususerMode:erMode::ode:oduuseruseuserMode:rMode:Mode:seruserModeuuserMode:serMode:userMode::Mode:euserMususerModuseuserMode:ruserMode:Mode:euserMode:						userMode:57.3*rtuserMode:->uuseuserMode:rMode:serModeuserMode::userModeuserMode::uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMuserMode:ode:serModususeruseuseuserMode:rMode:rMode:rMode:userMode:useruserMode:Mode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:uuserMode:serMouseruserModuseuserMode:rMode:e:Mode:duserModuserMode:euserMode::euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 5userMode:7.3uuuserMode:seruseuserMode:rMode:Mode:suserMususeuserMode:rMode:erMode:ode:eruserModuserMuserMode:useruseruserMode:Mode:Mode:ode:e:userMode:Mode:*ruserMode:t-userModeuserMode:userMuserMode:oduseruserMode:ModeuseuserMode:rMode::serususerMode:erMode:ModuserMode:e:userModeuserMode:::de:		userMuserMode:ususerMode:erMode:ode:			rt->x_duserMode:euserMode:suseuseuserMoususeruseuserMode:rMode:Mode:eruseuserMode:rMode:userMode:Mode:deuuserMuserMode:ode:seuserModuserModuserMode:e:e:rMuuserMode:serMode:ode::rMuserMode:oduuserMode:serModuuseuserMode:rMode:serMouserMode:de:e:e:ruseuseruserMode:Mode:rMouserMode:de:ModeuserModeuserMuuserMode:seuserMode:ruserMode:Mode:oduseuserMode:rMode:e::userMode::useuserMode:rMode:userMode:[1userMode:useuserMode:rMuserMode:ode:uuserModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2ususerMode:erMode:])userMode:;useuserModeuserMode::rMode:duserMode:e:e:		userMuseruserMode:ModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:seuserMode:rMode:], rt->userModuuserMode:suserMode:erMoususerMode:erMode:de:serMouuserMode:seuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMouserMode:de:uuserModeuserMode::serMode:ouserMode:de:userMode:de:userMode:userModuserMode:userMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseuserMode:rususerMode:erMuserMode:ode:ModuserMode:e:serMode:Mode:ususerModuserModuserMode:e:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserModuseuserMode:rMode:e:sususerMode:euserModuserMode:e:userMode:e:ouserModeuserMode:userMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMuserMode:ode:oduserMode:e:seruserModeuserModususerMode:erMode:e::userModeususerMode:eruserMode:Mode::Mode:de:.cuseruserMode:useruserMode:Mode:MouseruserMuserMode:ode:uuserMode:suserMode:erMode:MouserMode:de:uuserMode:seruserMode:Mode:userModeuserMouserMode:de::de:userMode:pp:userMouuserMode:serModuuserMode:serMode:e:de:	ususerMode:erMode:		userMouserMode:de:			ususerMode:erModuserMode:euserMode::rt-userModeuserMode:userMode::>userMouserMode:userMode:de:xuseruserModeuserMode::Mode:ee[1userMouserMode:deuseruseuserMouserMode:duserMode:e:rMode:MoususerMode:erModuseruserMode:Mode:euserMouserMode:duserMode:e::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMouserMode:de:ouseruserModuserMode:e:Mode:duserMode:ususeuserMode:rMode:erModeuserMode::e:tuserMode:->xuseuserMode:rModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rMouserMode:deuserMode::useuserMode:rMode:uuserMode:suseususeuserMode:rMode:erMode:rModeuseuserMode:rMode:uuserMode:serMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMouserMode:de:rt->ususerMouserMode:de:erMouserMode:de:F[0]uuserModuserMode:e:serModeuserMode:userModuserMouserMode:deuserMode::e:ususuuserModuserModuserMode:e:e:serMouserModuserMode:e:de:userModeuserMode::duserMode:e:teuseruserMode:Mode:userMode:userMode:r_userMode:org.cpp:	ususerMode:erMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuseruserMode:Mode:uuserMode:serususerMode:erMode:ModeuseruserModuserMode:e:Mode::serMode:userModuserMoususerMode:erMode:de:e:rtuseruserMode:userMouserMode:deuseuserMouserMode:de:ususerMode:eruserMouserModuserMode:e:de:Mode:rMuserMode:ouserMode:de:userMode:userMode::MouseuseruserMode:Mode:rMode:de:->userMode:uususeususerMode:eruserMode:Mode:rMode:erMuserMode:ode:seruserModeuserMode::ModeuserMode::F[useususerMode:erMode:rMode:1], 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useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMode:->uuserModeuseruserMode:Mode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruserMode:Mode:ModuserMode:ususerMode:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userMode:userMode:serModuserMode:e:useuserMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserMode::seruserMode:Mode::MuserMode:oduserModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserMode:userModuserMode:e::MuseuserMuserMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserMode:rMode:rMuserMode:ode:usususerMode:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserMode:ode:Mode:::MoususerMode:userMode:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserMode:uuuserMode:serMode:serModeuserModuserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserMode:serMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserMode:de:ode::eruserModuserMode:e:ususerMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userMode:>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:ode:e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:ModeuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:e:uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserMode:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::ode:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:de:serMuserMuserMode:ode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:userMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserMode:e:serMuseuserMode:rMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMode:de:Mode:uuserMouserMode:de:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserModeuserMode::e:useuserMode:rMuserMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuseruserMode:ModeuserMode::serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserModeuserMode:::Mode:useruserMode:Mode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuserMode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruserModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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userMouseruseruserMode:Mode:Mode:de:= 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rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserMode:Mode:Mode:eruseruserususerMode:erMode:de:useuserMode:ruserMode:Mode:MuserMode:ode:useuserMode:rModuserMode:e:ruseuseruserMode:Mode:rMode:tuseruserMouseruserMode:Mode:de:Mode:->useruserMode:Mode:a0[iuuserModuserMode:e:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:eruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuserMode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::[0]userModeuseruseruserMode:Mode:Mode::);
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userModeuserMode::usuuserModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMuserMode:ouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:serModuserMode:e:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserMode:userMuserModuserMode:e:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rModeuserMode:uususerMode:erModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserMode:e:Mode:deuuseuserMode:rMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:MuserMode:odususerMode:erModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserModuseruserMode:Mode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userModuserMode:e:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserMuserMode:odeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::userMode:	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] 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ruserMode:tuserMode:->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:houserMode:usususerMode:erMode:eruuserMode:serMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erMuseruserMode:Mode:odeuserModeuseuserMode:rMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMouserMode:de:oduserMode:euserMode::s tuserMode:userMouserMode:uuserMode:serMode:de:hususerModuseruseuserMode:rMode:Mode:e:euserMode:rMouuseuserModuserMode:e:rMode:serModeuserMode::userMode:deuuserMouuserMode:serModuserMode:e:deuuseuserMode:rMode:serMode:userMode::serMode::euserMode:useruserMode:userMode:MouserMode:de: ususerMode:erMode:uuserMode:userMouserModeuserMode::de:useuserMode:rMode:serMuseuseruserMode:MouserMode:de:useuserMode:rMouserMuserMode:ode:de:rMode:ouserMode:duserMode:e:userMode:seuserMode:rvuserModeususerMode:erModeuserMode:::o loususerMode:erMode:userModuserMode:e:ouserModuserMode:e:p userMode:cuserMode:ouuserMode:nuserMuserMode:ouserModuserMode:e:de:t userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode:userMode: %d\nuuserMode:serususeuserMode:ususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruuserMode:serMode:Mode:userMode:eruserModeuserMode::userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserModuserMode:e::uuserMode:serMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMuseruserMode:Mode:ouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMuserMode:ode:ruserMode:t->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMouserMode:de:ode:deuserMuserMode:ode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userModuserMode:e:erModeuseruserMode:MouserMode:de::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rtuserMode:->xuuserModuserMode:e:serMode:ususerMode:erMode:[1]ususerMode:eruserMode:ModususerMode:userMode:eususerMode:erMode:rMode:e:, userMode:rususerMode:erMuserMode:ode:iususerMode:euserMouserMode:de:ruseuserModuseuserMode:rMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduseuserMode:rMode:,0) == uususerModuserMode:e:erModeuserMode::serMouserMode:de:useruseruserModeuserMode::Mode:ModuserMususerMode:eruseruserMode:userModeuserModeuserMode:::MuserMode:odeuserMode::Mode:ode:useruserModuserModuserMode:euserMouserMode:de::e:MouserModuserModuserMode:euserMode::e:duseuserusuuserMode:serModuserMode:e:uuserMode:er_org.useuserModuserMode:e:userMode:ruuserMode:serMode:MouserMode:duserMode:e:cuuserMode:seruuseuserMode:rMode:seuserMode:rMode:Mode:userMode:ppususerMode:erMode::			// rt->uuserMode:serModeuseuseruserMode:Mode:rMode::tiuserMode:me userMouserMode:dususeruserMode:Mode:erMode:euseuserMode:rMouserMode:de::userMode:iuserMode:userMuserMode:ode:s userMode:userModeuserModuseruserMode:Mode:e::timuuserMode:useruseuserMode:rMode:Mode:seruserMode:Mode:e 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couuserMode:ususerMuserMode:ode:erMouserMode:deuserMode:useruserMode:Mode::suserMode:erModeuserMode::unuseuserMode:rMode:tuseuseruserMode:Mode:rMode:useuserModuserMode:e:userMode:rususeruserMode:Mode:erMode:MuserMode:oduuserMode:seruserMode:ModuserMode:e:userMode:e: fuuserMode:serModuserMode:e:rususeuserModuseruserMode:ModeuserMode::e:rMode:userModeuseruseuserMode:rMode:Mode::eruserMode:Mode:om userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserMode:rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:euseuserMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMode:e:rMouseruserMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serMode:Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruserMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuserMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserModeuserMode::suserMode:userMode:erMuserMode:oususeruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:userMode:MuserMode:userMode:ode:t-userMuserMode:oduserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::dususerMode:erMode:e:[1ususeuseuserMode:rMode:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:euserMode:::], rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserModuserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suserMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuserMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: rt-uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erMuserMode:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserMode:ModuserMode:e:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:ModeususeuseruseuserMode:rMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMoususerMode:erMode:de:.3*ususeruseuserMode:rMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMouserMode:de:userMode:userMouuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[useuserMode:rMode:ususerMouserModuserMode:e:de:euuserMode:serMode:rMuserMuseruseuserMode:rMode:Mode:uuserMode:suserMode:erususerMode:erModuserMode:e:de:ouserMode:userMode:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruseuserMode:rMode:Mode:ruserMode:userMode:MuserMode:uuserModeuseruserMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruseuserMode:rMode:Mode:eruserMode:Mode:userMode::deuserMode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruseuseruserMode:Mode:rMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	userMode:57userMode:useuserMode:rMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruseruserMode:MuserMode:ode:ModeuserMode::MuseuserMode:rMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuseuserMode:rMode:seruserMode:MuserMode:odeuserMode::[3]useuseuserMode:rMode:rMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserMuserMode:oduuserMode:serMode:e:serMouserMode:de:ouserMode:duserMode:euserModeuseuserMode:rMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeususeuserMode:rMode:erMode:: ususerMode:erModeuserMuserMode:ode:userModususerMouseuserMode:rMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:MouserMode:de:ModuserMode:eususerMode:erMode::userMode:oduserMode:e:e::57.3*rt->jguseuseuserMode:rMode:rModuserModeuserMode::e:ouseruseruseususerMuserMode:odeuseruserModeuserMode::Mode::erMode:rMuserMuserModeususerMode:erMode::ode:oduuseruseuserMode:rMode:Mode:seruserModeuuserMode:serMode:userMode::Mode:euserMususerModuseuserMode:ruserMode:Mode:euserMode:						userMode:57.3*rtuserMode:->uuseuserMode:rMode:serModeuserMode::userModeuserMode::uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMuserMode:ode:serModususeruseususerMode:euserMode:rMode:rMode:rMode:userMode:useruserMode:Mode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:uuserMode:serMouseruserModuseuserMode:rMode:e:Mode:duserModuserMode:euserMode::euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 5userMode:7.3uuuserMode:seruseuserMode:rMode:Mode:suserMususeuserMode:rMode:erMode:ode:eruserModuserMuserMode:useruseruserMode:Mode:Mode:ode:e:userMode:Mode:*ruserMode:t-userModeuserMode:userMuserMode:oduseruserMode:ModeuseuserMode:rMode::serususerMode:erMode:ModuserMode:e:userModeuserMode:::de:		userMuserMode:ususerMode:erMode:ode:			rt->x_duserMode:euserMode:suseuseuserMoususeruseuserMode:rMode:Mode:eruseuserMode:rMode:userMode:Mode:deuuserMuserMode:ode:seuserModuserModuserMode:e:e:rMuuserMode:serMode:ode::rMuserMode:oduuserMode:serModuuseuserMode:rMode:serMouserMode:de:e:e:ruseuseruserMode:Mode:rMouserMode:de:ModeuserModeuserMuuserMode:seuserMode:ruserMode:Mode:oduseuserMode:rMode:e::userMode::useuserMode:rMode:userMode:[1userMode:useuserMode:rMuserMode:ode:uuserModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2ususerMode:erMode:])userMode:;useuserModeuserMode::rMode:duserMode:e:e:		userMuseruserMode:ModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:seuserMode:rMode:], rt->userModuuserMode:suserMode:erMoususerMode:erMode:de:serMouuserMode:seuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMouserMode:de:uuserModeuserMode::serMode:ouserMode:de:userMode:de:userMode:userModuserMode:userMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseuserMode:rususerMode:erMuserMode:ode:ModuserMode:e:serMode:Mode:ususerModuserModuserMode:e:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserModuseuserMode:rMode:e:sususerMode:euserModuserMode:e:userMode:e:ouserModeuserMode:userMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMuserMode:ode:oduserMode:e:seruserModeuserModususerMode:erMode:e::userModeususerMode:eruserMode:Mode::Mode:de:.cuseruserMode:useruserMode:MouserMode:de:MouseruserMuserMode:ode:uuserMode:suserMode:erMode:MouserMode:de:uuserMode:seruserMode:Mode:userModeuserMouserMode:de::de:userMode:pp:userMouuserMode:serModuuserMode:serMode:e:de:	ususerMode:erMode:		userMouserMode:de:			ususerMode:erModuserMode:euserMode::rt-userModeuserMode:userMode::>userMouserMode:userMode:de:xuseruserModeuserMode::Mode:ee[1userMouserMode:deuseruseuserMouserMode:duserMode:e:rMode:MoususerMode:erModuseruserMode:Mode:euserMouserMode:duserMode:e::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMouserMode:de:ouseruserModuserMode:e:Mode:duserMode:ususeuserMode:rMode:erModeuserMode::e:tuserMode:->xuseuserMode:rModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rMouserMode:deuserMode::useuserMode:rMode:uuserMode:suseususeuserMode:rMode:erMode:rModeuseuserMode:rMode:uuserMode:serMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMouserMode:de:rt->ususerMouserMode:de:erMouserMode:de:F[0]uuserModuserMode:e:serModeuserMode:userModuserMouserMode:deuserMode::e:ususuuserModuserModuserMode:e:e:serMouserModuserMode:e:de:userModeuserMode::duserMode:e:teuseruserMode:Mode:userMode:userMode:r_userMode:org.cpp:	ususerMode:erMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuseruserMode:Mode:uuserMode:serususerMode:erMode:ModeuseruserModuserMode:e:Mode::serMode:userModuserMoususerMode:erMode:de:e:rtuseruserMode:userMouserMode:deuseuserMouserMode:de:ususerMode:eruserMouserModuserMode:e:de:Mode:rMuserMode:ouserMode:de:userMode:userMode::MouseuseruserMode:Mode:rMode:de:->userMode:uususeususerMode:eruserMode:Mode:rMode:erMuserMode:ode:seruserModeuserMode::ModeuserMode::F[useususerMode:erMode:rMode:1], 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useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMode:->uuserModeuseruserMode:Mode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruserMode:Mode:ModuserMode:ususerMode:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMode:serModuserMode:e:useuserMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserMode::seruserMode:Mode::MuserMode:oduserModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserMode:userModuserMode:e::MuseuserMuserMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserMode:rMode:rMuserMode:ode:usususerMode:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserMode:ode:Mode:::MoususerMode:userMode:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserMode:uuuserMode:serMode:serModeuserModuserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserMode:serMode:,useruserMode:Mode:userMode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserMode:de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userMode:>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:ode:e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:ModeuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususerusuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:euserMode::uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserMode:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::ode:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:e:ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:de:serMuserMuserMode:ode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserMode:e:serMuseuserMode:rMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMode:de:Mode:uuserMouserMode:de:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserModeuserMode::e:useuserMode:rMuserMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeuserMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuseruserMode:ModeuserMode::serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserModeuserMode:::Mode:useruserMode:Mode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuserMouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::Mode:euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruserMode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 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rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::serMode:ModeuseruserMode:ModeususeruseruserModeuserMode::Mode:Mode:eruseruserususerMode:erMode:de:useuserMode:ruserMode:Mode:MuserMode:ode:useuserMode:rModuserMode:e:ruseuseruserMode:Mode:rMode:tuseruserMouseruserMode:Mode:de:Mode:->useruserMode:Mode:a0[iuuserModuserMode:e:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:eruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- userMode:rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuserMode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::[0]userModeuseruseruserMode:Mode:Mode::);
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userMode:!=usususeruseuserMode:rMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:useruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMuserMode:ode:euserMode:ususerMode:erMode:::uususerMode:erMode:seruseruseuserMode:rMode:Mode:ModuserMode:e:useuserMouserMode:de:userMode:ruuserMouserMode:de:seuserMouseruserModeuserMode::Mode:de:rMode:MouseuseuserModeuserMode::rMode:ruserMode:Mode:de:useruseuserMode:ruserMode:Mode:Mode:uususerModeuserMode::erModeuserMode::suserMode:useruuserMode:serModuseruserMode:ModeuserModeuserMode:::euserMode::ModuserMode:e:eruususerMode:erMode:seruserMuseruseruserModeuserMode::Mode:Mode:ode:ModeuserMouserModuserMode:e:de::Mode:useuseruseususerModeuserMode::euseruserMode:Mode:Mode:MuserMouserMode:de:odeuserMode::userModuserModeuserMode::e:rt->ususerususerMode:euseruseuserMode:rMode:Mode:rModeuserModuserModeuserMode::e::Mode:erEuuserMode:seuserModeuserMode::rModuserMouseruserModeuserModeuserMode:::Mode:de:e:n", 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userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserMode:rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:euseuserMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMode:e:rMouseruserMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serMode:Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruserMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuserMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserMuserMode:odeuserMode::suserMode:userMode:erMuserMode:oususeruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:userMode:MuserMode:userMode:ode:t-userMuserMode:oduserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::dususerMode:erMode:e:[1ususeuseuserMode:rMode:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:euserMode:::], rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserModuserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suserMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuserMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: 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57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMouuserMode:suserMode:erMode:de:.3*ususeruseuserMode:rMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMouserMode:de:userMode:userMouuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[useuserMode:rMode:ususerMouserModuserMode:e:de:euuserMode:serMode:rMuserMuseruseuserMode:rMode:Mode:uuserMode:suserMode:erususerMode:erModuserMode:e:de:ouserMode:userMode:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruseuserMode:rMode:Mode:ruserMode:userMode:MuserMode:uuserModeuseruserMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruseuserMode:rMode:Mode:eruserMode:Mode:userMode::deuserMode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruseuseruserMode:Mode:rMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	userMode:57userMode:useuserMode:rMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruseruserMode:MuserMode:ode:ModeuserMode::MuseuserMode:rMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuseuserMode:rMode:seruserMode:MuserMode:odeuserMode::[3]useuseuserMode:rMode:rMode:,userMode: 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ususerMode:erModeuserMuserMode:ode:userModususerMouseuserMode:rMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:MouserMode:de:ModuserMode:eususerMode:erMode::userMode:oduserMode:e:e::57.3*rt->jguseuseuserMode:rMode:rModuserModeuserMode::e:ouseruseruseususerMuserMode:odeuseruserModeuserMode::Mode::erMode:rMuserMuserModeususerMode:erMode::ode:oduuseruseuserMode:rMode:Mode:seruserModeuuserMode:serMode:userMode::Mode:euserMususerModuseuserMode:ruserMode:Mode:euserMode:						userMode:57.3*rtuserMode:->uuseuserMode:rMode:seuserMode:rModeuserMode::userModeuserMode::uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMuserMode:ode:serModususeruseususerMode:euserMode:rMode:rMode:rMode:userMode:useruserMode:Mode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:uuserMode:serMouseruserModuseuserMode:rMode:e:Mode:duserModuserMode:euserMode::euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 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rt->userModuuserMode:suserMode:erMoususerMode:erMode:de:serMouuserMode:seuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMouserMode:de:uuserModeuserMode::serMode:ouserMode:de:userMode:de:userMode:userModuserMode:userMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseuserMode:rususerMode:erMuserMode:ode:ModuserMode:e:serMode:Mode:ususerModuserModuserMode:e:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserModuseuserMode:rMode:e:sususerMode:euserModuserMode:e:userMode:e:ouserModeuserMode:userMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:userMuserMode:ode:oduserMode:e:seruserModeuserModususerMode:erMode:e::userModeususerMode:eruserMode:Mode::Mode:de:.cuseruserMode:useruserMode:MouserMode:de:MouseruserMuserMode:ode:uuserMode:suserMode:erMode:MouserMode:de:uuserMode:seruserMode:Mode:userModeuserMouserMode:de::de:userMode:pp:userMouuserMode:serModuuserMode:serMode:e:de:	ususerMode:erMode:		userMouserMode:de:			ususerMode:erModuserMode:euserMode::rt-userModeuserMode:userMode::>userMouserMode:userMode:de:xuseruserModeuserMode::Mode:ee[1userMouserMode:deuseruseuserMouserMode:duserMode:e:rMode:MoususerMode:erModuseruserMode:Mode:euserMouserMode:duserMode:e::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMouserMode:de:ouseruserModuserMode:e:Mode:duserMode:ususeuserMode:rMode:erModeuserMode::e:tuserMode:->xuseuserMode:rModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rMouserMode:deuserMode::useuserMode:rMode:uuserMode:suseususeuserMode:rMode:erMode:rModeuseuserMode:rMode:uuserMode:serMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMouserMode:de:rt->ususerMouserMode:de:erMouserMode:de:F[0]uuserModuserMode:e:serModeuserMode:userModuserMouserMode:deuserMode::e:ususuuserModuserModuserMode:e:e:serMouserModuserMode:e:de:userModeuserMode::duserMode:e:teuseruserMode:Mode:userMode:userMode:r_userMode:org.cpp:	ususerMode:erMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuseruserMode:Mode:uuserMode:serususerMode:erMode:ModeuseruserModuserMode:e:Mode::serMode:userModuserMoususerMode:erMode:de:e:rtuseruserMode:userMouserMode:deuseuserMouserMode:de:ususerMode:eruserMouserModuserMode:e:de:Mode:rMuserMode:ouserMode:de:userMode:userMode::MouseuseruserMode:Mode:rMode:de:->userMode:uususeususerMode:eruserMode:Mode:rMode:erMuserMode:ode:seruserModeuserMode::ModeuserMode::F[useususerMode:erMode:rMode:1], 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useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMode:->uuserModeuseruserMode:Mode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuserMode:ususerMode:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMode:serModuserMode:e:useuserMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserMode::seruserMode:Mode::MuserMode:oduserModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserMode:userModuserMode:e::MuseuserMuserMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserMode:rMode:rMuserMode:ode:usususerMode:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserMode:ode:Mode:::MoususerMode:userMode:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserMode:uuuserMode:serMode:serModeuserModuserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userMode:],uuseruserMuserMode:ode:MuserMode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserMode:serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserMode:de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userMode:>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:ode:e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:ModeuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:useruserMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususeruserMode:usuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:euserMode::uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserMode:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::ode:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMode:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:de:serMuserMuserMode:ode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserMode:e:serMuseuserMode:rMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMode:de:Mode:uuserMouserMode:de:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserModeuserMode::e:useuserMode:rMuserMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMode:de:ode:MouserMode:de::userususeruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:serMuserMode:ode:MuserMode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuseruserMode:ModeuserMode::serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t 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useruserMouserMode:deuserModeuserMode:::Mode:useruserMode:Mode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:Mode::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserMode::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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rtuserMuseruserMode:Mode:ouseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::deuserususeruserMode:Mode:eruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:ModuseruseruserMode:Mode:Mode:e:MouseruserMode:Mode:duserModeuseruserMode:Mode::e::useruuseruserMode:Mode:serMode:MuseruserMode:Mode:oduseuseruseruserMode:Mode:Mode:ruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:euserModeuseruserMode:Mode:::e:useususeruserMode:Mode:erModuseruseruserMode:Mode:Mode:e:rMuseruserMode:Mode:odeuserMouseruserMode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruserMode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 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rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userMode:useuserMode:ruuserModeuseruserMode:Mode::seuserMode:rMode:ModeuseruserMode:ModeususeruseruserModeuserMode::Mode:Mode:eruseruserususerMode:erMode:de:useuserMode:ruserMode:Mode:MuserMode:ode:useuserMode:rModuserMode:e:ruseuseruserMode:Mode:rMode:tuseruserMouseruserMode:Mode:de:Mode:->useruserMode:Mode:a0[iuuserModuserMode:e:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruserMode:Mode:euserMode:useruserMode:Mode::ModususerMode:euserMode:ruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- userMode:rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuserMode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::[0]userModeuseruseruserMode:Mode:Mode::);
userMuseruuserModuserMode:e:serMode:Mode:ouserModuserMode:euseruserMode:Mode::de:useruseuuserMode:ususerMode:erMode:serususerMode:eruserModeuseruserMode:Mode::MouserMode:de:Mode:useuserMode:rMouserMode:de:rMode:Mode:uusususeruserModeuserMode::Mode:erMode::e:cpp:useuserModeuserMode::rMode:	rt-useuserModuserModeuseuserMode:ruserMode:Mode::e:rMouuserMode:suserMode:erModeuserMode::de:useuserModeuuserMode:serModuseruseuserMode:rMode:ModeuserMode::e::rMode:ususeuserMode:rMode:euserMode:ruseuserMode:rususerModeuseruseruserMode:Mode:Mode::erMouseruserMuserModuseruserMode:Mode:e:ouserMode:de:ModeuseuuserMode:suseruserMode:Mode:erMode:userMode:rModeuserMode:::userMode:dususeruserMuserMode:oduserModeuseruseuserMode:rMode:Mode::e:userMode:Mode:erModeuserMode::e:userMode:ModuseruuserMode:serMode:de:useruserModeuserMode::Mode:(1) && (rt->ususeuserModeuserMode::rMode:erEusuuserModeuserModeuseuserMode:ruserMode:Mode:::serMouserMode:duserMode:e:erMouserMode:deuserMode::xit userMode:!=usususeruseuserMode:rMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:useruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMuserMode:ode:euserMode:ususerMode:erMode:::uususerMode:erMode:seruseruseuserMode:rMode:Mode:ModuserMode:e:useuserMouserMode:de:userMode:ruuserMouserMode:de:seuserMouseruserModeuserMode::Mode:de:rMode:MouseuseuserModeuserMode::rMode:ruserMode:Mode:de:useruseuserMode:ruserMode:Mode:Mode:uususerModeuserMode::erModeuserMode::suserMode:useruuserMode:serModuseruserMode:ModeuserModeuserMode:::euserMode::ModuserMode:e:eruususerMode:erMode:seruserMuseruseruserModeuserMode::Mode:Mode:ode:ModeuserMouserModuserMode:e:de::Mode:useuseruseususerModeuserMode::euseruserMode:Mode:Mode:MuserMouserMode:de:odeuserMode::userModuserModeuserMode::e:rt->ususerususerMode:euseruseuserMode:rMode:Mode:rModeuserModuserModeuserMode::e::Mode:erEuuserMode:seuserModeuserMode::rModuserMouseruserModeuserModeuserMode:::Mode:de:e:n", uuserMode:seuseruserMode:uuserMode:serMode:Mode:userModeuserMode::rMuseruseruserMode:Mode:Mode:oduserMode:e:rtuserMouserMode:de:-userModeuserMode::>userMode:uususerMode:euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::MouserMode:deuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuseruserMode:Mode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:useuserMode:rModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:MouserMode:de::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userModuserMode:e:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userModeuserMode::		userMuseuserMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::MouserMode:duserMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuseuserMode:rususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:ode:rMouserMode:de:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserModuserMode:e:ususerMode:eruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:useruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuseuserMode:rModeuserMode::eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::euserMode:rMode:deuserMuuserMode:suserMode:erModeuserMode::ode::,userMode:uuserModuserMode:e:serModeuserModuserModuserMode:e:e::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euserMode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:erMode:rMode:Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:useuseruserMode:Mode:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serMuserMode:oduseruseuuserMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuuserMode:serMode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserModuserMode:e:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, 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userModeuserMode::usuuserModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMuserMode:ouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:serModuserMode:e:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserMode:userMuserModuserMode:e:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rModeuserMode:uususerMode:erModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserMode:e:Mode:deuuseuserMode:rMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:MuserMode:odususerMode:erModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserModuseruserMode:Mode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userModuserMode:e:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserMuserMode:odeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::userMode:	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] 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ruserMode:tuserMode:->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:houserMode:usususerMode:erMode:eruuserMode:serMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erMuseruserMode:Mode:odeuserModeuseuserMode:rMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMouserMode:de:oduserMode:euserMode::s tuserMode:userMouserMode:uuserMode:serMode:de:hususerModuseruseuserMode:rMode:Mode:e:euserMode:rMouuseuserModuserMode:e:rMode:serModeuserMode::userMode:deuuserMouuserMode:serModuserMode:e:deuuseuserMode:rMode:serMode:userMode::serMode::euserMode:useruserMode:userMode:MouserMode:de: ususerMode:erMode:uuserMode:userMouserModeuserMode::de:useuserMode:rMode:serMuseuseruserMode:MouserMode:de:useuserMode:rMouserMuserMode:ode:de:rMode:ouserMode:duserMode:e:userMode:seuserMode:rvuserModeususerMode:erModeuserMode:::o loususerMode:erMode:userModuserMode:e:ouserModuserMode:e:p userMode:cuserMode:ouuserMode:nuserMuserMode:ouserModuserModeuserMode::e:de:t userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode:userMode: %d\nuuserMode:serusususerMode:euserMode:ususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruuserMode:serMode:Mode:userMode:eruserModeuserMode::userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserModuserMode:e::uuserMode:serMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMuseruserMode:Mode:ouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMuserMode:ode:ruserMode:t->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMouserMode:de:ode:deuserMuserMode:ode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userModuserMode:e:erModeuseruserMode:MouserMode:de::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rtuserMode:->xuuserModuserMode:e:serMode:ususerMode:erMode:[1]ususerMode:eruserMode:ModususerMode:userMode:eususerMode:erMode:rMode:e:, userMode:rususerMode:erMuserMode:ode:iususerMode:euserMouserMode:de:ruseuserModuseuserMode:rMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduseuserMode:rMode:,0) == uususerModuserMode:e:erModeuserMode::serMouserMode:de:useruseruserModeuserMode::Mode:ModuserMususerMode:eruseruserMode:userModeuserModeuserMode:::MuserMode:odeuserMode::Mode:ode:useruserModuserModuserMode:euserMouserMode:de::e:MouserModuserModuserMode:euserMode::e:duseuserusuuserMode:serModuserMode:e:uuserMode:er_org.useuserModuserMode:e:userMode:ruuserMode:serMode:MouserMode:duserMode:e:cuuserMode:seruuseuserMode:rMode:seuserMode:rMode:Mode:userMode:ppususerMode:erMode::			// rt->uuserMode:serModeuseuseruserMode:Mode:rMode::tiuserMode:me userMouserMode:dususeruserMode:Mode:erMode:euseuserMode:rMouserMode:de::userMode:iuserMode:userMuserMode:ode:s userMode:userModeuserModuseruserMode:Mode:e::timuuserMode:useruseuserMode:rMode:Mode:seruserMode:Mode:e 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userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserMode:rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:euseuserMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMode:e:rMouseruserMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serMode:Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruserMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuuserMode:serMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserMuserMode:odeuserMode::suserMode:userMode:erMuserMode:oususeruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:userMode:MuserMode:userMode:ode:t-userMuserMode:oduserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::dususerMode:erMode:e:[1ususeuseuserMode:rMode:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:euserMode:::], rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserModuserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suserMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuserMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: rt-uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erMuserMode:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserMode:ModuserMode:e:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:MouserMode:deususeuseruseuserMode:rMode:Mode:rMode:erMode::l[0], 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ruuserMode:useuserMode:rMode:serMuserMouserMode:de:ouseruserModuserMode:e:Mode:duserMode:ususeuserMode:rMode:erModeuserMode::e:tuserMode:->xuseuserMode:rModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rMouserMode:deuserMode::useuserMode:rMode:uuserMode:suseususeuserMode:rMode:erMode:rModeuseuserMode:rMode:uuserMode:serMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMouserMode:de:rt->ususerMouserMode:de:erMouserMode:de:F[0]uuserModuserMode:e:serModeuserMode:userModuserMouserMode:deuserMode::e:ususuuserModuserModuserMode:e:e:serMouserModuserMode:e:de:userModeuserMode::duserMode:e:teuseruserMode:Mode:userMode:userMode:r_userMode:org.cpp:	ususerMode:erMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuseruserMode:Mode:uuserMode:serususerMode:erMode:ModeuseruserModuserMode:e:Mode::serMode:userModuserMoususerMode:erMode:de:e:rtuseruserMode:userMouserMode:deuseuserMouserMode:de:ususerMode:eruserMouserModuserMode:e:de:Mode:rMuserMode:ouserMode:de:userMode:userMode::MouseuseruserMode:Mode:rMode:de:->userMode:uususeususerMode:eruserMode:Mode:rMode:erMuserMode:ode:seruserModeuserMode::ModeuserMode::F[useususerMode:erMode:rMode:1], 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useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMuserMode:ode:->uuserModeuseruserMode:Mode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuserMode:ususerMode:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMode:serModuserMode:e:useuserMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserMode::seruserMode:Mode::MuserMode:oduserModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserMode:userModuserMode:e::MuseuserMuserMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserMode:rMode:rMuserMode:ode:usususerMode:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserMode:ode:Mode:::MoususerMode:userMode:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserMode:uuuserMode:serMode:serModeuserModuserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userMode:],uuseruserMuserMode:ode:MuserMuserMode:ode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserMode:serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserMode:de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userMode:>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:ode:e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:ModeuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuserMode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:userususerMode:erMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususeruserMode:usuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:euserMode::uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserMode:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::ode:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauuserModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:de:serMuserMuserMode:ode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserMode:e:serMuseuserMode:rMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMode:de:Mode:uuserMouserMode:de:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserModeuserMode::e:useuserMode:rMuserMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:userMode::userMouuserMode:serModuserModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouserMode:de::userususeruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeuserMode:::rt->fusuuseruserMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuseruserMode:ModeuserMode::serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserMuserMode:odeuserMode:::Mode:useruserMode:Mode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserMode::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruserMode:Mode:e:Mode:ModuserModeuseruserMode:Mode::e:userMode:ususeruseruserMode:Mode:Mode:euserMode:rMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:duserMode:e:ususeruseruserMode:Mode:Mode:eruseruserModuseruserMode:Mode:e:ModeuserMode::MouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:userMouseruserMode:Mode:de:userMode:userMouseruserMode:Mode:de:useuserModeuseruseruserMode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 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rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserMode:Mode:erMode:e:ModeuuseuserMode:rMode:serMuseruserMode:Mode:ouserMode:de::f[1userMode:useuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:rMode:]useruserMode:Mode:, rt-userModuserMode:e:useuserMode:ruuserModeuseruserMode:Mode::seuserMode:rMode:ModeuseruserMode:ModeususeruseruserModeuserMode::Mode:Mode:eruseruserususerMode:erMode:de:useuserMode:ruserMode:Mode:MuserMode:ode:useuserMode:rModuserMode:e:ruseuseruserMode:Mode:rMode:tuseruserMouseruserMode:Mode:de:Mode:->useruserMode:Mode:a0[iuuserModuserMode:e:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::useruseruserModuseruseruserMode:Mode:Mode:euserMode:useruserMode:Mode::ModususerMode:euserMode:ruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- userMode:rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuserMode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::[0]userModeuseruseruserMode:Mode:Mode::);
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userMode:!=usususeruseuserMode:rMode:ModeuserMode::erModeuserModeuserMode:::euseruserMode:useruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userModuseruserMode:Mode:e:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMuserMode:ode:euserMode:ususerMode:erMode:::uususerMode:erMode:seruseruseuserMode:rMode:Mode:ModuserMode:e:useuserMouserMode:de:userMode:ruuserMouserMode:de:seuserMouseruserModeuserMode::Mode:de:rMode:MouseuseuserModeuserMode::rMode:ruserMode:Mode:de:useruseuserMode:ruserMode:Mode:Mode:uususerModeuserMode::erModeuserMode::suserMode:useruuserMode:serModuseruserMode:ModeuserModeuserMode:::euserMode::ModuserMode:e:eruususerMode:erMode:seruserMuseruseruserModeuserMode::Mode:Mode:ode:ModeuserMouserModuserMode:e:de::Mode:useuseruseususerModeuserMode::euseruserMode:Mode:Mode:MuserMouserMode:de:odeuserMode::userModuserModeuserMode::e:rt->ususerususerMode:euseruseuserMode:rMode:Mode:rModeuserModuserModeuserMode::e::Mode:erEuuserMode:seuserModeuserMode::rModuserMouseruserModeuserModeuserMode:::Mode:de:e:n", 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userModeuserMode::usuuserModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMuserMode:ouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:serModuserMode:e:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserMode:userMuserModuserMode:e:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rModeuserMode:uususerMode:erModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserMode:e:Mode:deuuseuserMode:rMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:MuserMode:odususerMode:erModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::useruserModuseruserMode:Mode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:Mode:de:userModuserMode:e:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::userMode:seruserMuserMode:odeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserMode:euseuserMode:rMode:::userMode:	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] 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ruserMode:tuserMode:->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:houserMode:usususerMode:erMode:eruuserMode:serMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erMuseruserMode:Mode:odeuserModeuseuserMode:rMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMouserMode:de:oduserMode:euserMode::s tuserMode:userMouserMode:uuserMode:serMode:de:hususerModuseruseuserMode:rMode:Mode:e:euserMode:rMouuseuserModuserMode:e:rMode:serModeuserMode::userMode:deuuserMouuserMode:serModuserMode:e:deuuseuserMode:rMode:serMode:userMode::serMode::euserMode:useruserMode:userMode:MouserMode:de: ususerMode:erMode:uuserMode:userMouserModeuserMode::de:useuserMode:rMode:serMuseuseruserMode:MouserMode:de:useuserMode:rMouserMuserMode:ode:de:rMode:ouserMode:duserMode:e:userMode:seuserMode:rvuserModeususerMode:erModeuserMode:::o loususerMode:erMode:uuserMode:serModuserMode:e:ouserModuserMode:e:p userMode:cuserMode:ouuserMode:nuserMuserMode:ouserModuserModeuserMode::e:de:t userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode:userMode: %d\nuuserMode:serusususerMode:euserMode:ususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruuserMode:serMode:Mode:userMode:eruserModeuserMode::userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserModuserMode:e::uuserMode:serMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMuseruserMode:Mode:ouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMuserMode:ode:ruserMode:t->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMouserMode:de:ode:deuserMuserMode:ode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userModuserMode:e:erModeuseruserMode:MouserMode:de::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rtuserMode:->xuuserModuserMode:e:serMode:ususerMode:erMode:[1]ususerMode:eruserMode:ModususerMode:userMode:eususerMode:erMode:rMode:e:, userMode:rususerMode:erMuserMode:ode:iususerMode:euserMouserMode:de:ruseuserModuseuserMode:rMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduseuserMode:rMode:,0) == uususerModuserMode:e:erModeuserMode::serMouserMode:de:useruseruserModeuserMode::Mode:ModuserMususerMode:eruseruserMode:userModeuserModeuserMode:::MuserMode:odeuserMode::Mode:ode:useruserModuserModuserMode:euserMouserMode:de::e:MouserModuserModuserMode:euserMode::e:duseuserusuuserMode:serModuserMode:e:uuserMode:er_org.useuserModuserMode:e:userMode:ruuserMode:serMode:MouserMode:duserMode:e:cuuserMode:seruuseuserMode:rMode:seuserMode:rMode:Mode:userMode:ppususerMode:erMode::			// rt->uuserMode:serModeuseuseruserMode:Mode:rMode::tiuserMode:me userMouserMode:dususeruserMode:Mode:erMode:euseuserMode:rMouserMode:de::userMode:iuserMode:userMuserMode:ode:s userMode:userModeuserModuseruserMode:Mode:e::timuuserMode:useruseuserMode:rMode:Mode:seruserMode:Mode:e 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userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserMode:rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:euseuserMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMode:e:rMouseruserMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serMode:Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruserMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:userMode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuuserMode:serMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserMuserMode:odeuserMode::suserMode:userMode:erMuserMode:oususeruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:userMode:MuserMode:userMode:ode:t-userMuserMode:oduserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::dususerMode:erMode:e:[1ususeuseuserMode:rMode:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:euserMode:::], rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserModuserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suserMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuserMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: rt-uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:userMode:			usuuserModuserMode:e:suserMode:userMode:erMuserMode:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserModuserMode:e:ModuserMode:e:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:MouserMode:deususeuseruseuserMode:rMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMouuserMode:suserMode:erMode:de:.3*ususeruseuserMode:rMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMouserMode:de:userMode:userMouuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[useuserMode:rMode:ususerMouserModuserMode:e:de:euuserMode:serMode:rMuserMuseruseuserMode:rMode:Mode:uuserMode:suserMode:erususerMode:erModuserMode:e:de:ouserMode:userMode:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruseuserMode:rMode:Mode:ruserMode:userMode:MuserMode:uuserModeuseruserMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruseuserMode:rMode:Mode:eruserMode:Mode:userMode::deuserMode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruseuseruserMode:Mode:rMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	userMode:57userMode:useuserMode:rMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruseruserMode:MuserMode:ode:ModeuserMode::MuseuserMode:rMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuseuserMode:rMode:seruserMode:MuserMode:odeuserMode::[3]useuseuserMode:rMode:rMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserMuserMode:oduuserMode:serMode:e:serMouserMode:de:ouserMode:duserMode:euserModeuseuserMode:rMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeususeuserMode:rMode:erMode:: 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5userMode:7.3uuuserMode:seruseuserMode:rMode:Mode:suserMususeuserMode:rMode:erMode:ode:eruserModuserMuserMode:useruseruserMode:Mode:Mode:ode:e:userMode:Mode:*ruserMode:t-userModeuserMode:userMuserMode:oduseruserMode:ModeuseuserMode:rMode::serususerMode:erMode:ModuserMode:e:userModeuserMode:::de:		userMuserMode:ususerMode:erMode:ode:			rt->x_duserMode:euserMode:suseuseuserMoususeruseuserMode:rMode:Mode:eruseuserMode:rMode:userMode:Mode:deuuserMuserMode:ode:seuserModuserModuserMode:e:e:rMuuserMode:serMode:ode::rMuserMode:oduuserMode:serModuuseuserMode:rMode:serMouserMode:de:e:e:ruseuseruserMode:Mode:rMouserMode:de:ModeuserModeuserMuuserMode:seuserMode:ruserMode:Mode:oduseuserMode:rMode:e::userMode::useuserMode:rMode:userMode:[1userMode:useuserMode:rMuserMode:ode:uuserModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2ususerMode:erMode:])userMode:;useuserModeuserMode::rMode:duserMode:e:e:		userMuseruserMode:ModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:seuserMode:rMode:], rt->userModuuserMode:suserMode:erMoususerMode:erMode:de:serMouuserMode:seuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMouserMode:de:uuserModeuserMode::serMode:ouserMode:de:userMode:de:userMode:userModuserMode:userMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseuserMode:rususerMode:erMuuserMode:serMode:ode:ModuserMode:e:serMode:Mode:ususerModuserModuserMode:e:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserModuseuseruserMode:Mode:rMode:e:sususerMode:euserModuserMode:e:userMode:e:ouserModeuserMode:userMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:userMuserMode:ode:oduserMode:e:seruserModeuserModususerMode:erMode:e::userModeususerMode:eruserMode:Mode::Mode:de:.cuseruserMode:useruserMode:MouserMode:de:MouseruserMuserMode:ode:uuserMode:suserMode:erMode:MouserMode:de:uuserMode:seruserMode:Mode:userModeuserMouserMode:de::de:userMode:pp:userMouuserMode:serModuuserMode:serMode:e:de:	ususerMode:erMode:		userMouserMode:de:			ususerMode:erModuserMode:euserMode::rt-userModeuserMode:userMode::>userMouserMode:userMode:de:xuseruserModeuserMode::Mode:ee[1userMouserMode:deuseruseuserMouserMode:duserMode:e:rMode:MoususerMode:erModuseruserMode:Mode:euserMouserMode:duserMode:e::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMouserMode:de:ouseruserModuserMode:e:Mode:duserMode:ususeuserMode:rMode:erModeuserMode::e:tuserMode:->xuseuserMode:rModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rMouserMode:deuserMode::useuserMode:rMode:uuserMode:suseususeuserMode:rMode:erMode:rModeuseuserMode:rMode:uuserMode:serMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMouserMode:de:rt->ususerMouserMode:de:erMouserMode:de:F[0]uuserModuserMode:e:serModeuserMode:userModuserMouserMode:deuserMode::e:ususuuserModuserModuserMode:e:e:serMouserModuserMode:e:de:userModeuserMode::duserMode:e:teuseruserMode:Mode:userMode:userMode:r_userMode:org.cpp:	ususerMode:erMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuseruserMode:Mode:uuserMode:serususerMode:erMode:ModeuseruserModuserMode:e:Mode::serMode:userModuserMoususerMode:erMode:de:e:rtuseruserMode:userMouserMode:deuseuserMouserMode:de:ususerMode:eruserMouserModuserMode:e:de:Mode:rMuserMode:ouserMode:de:userMode:userMode::MouseuseruserMode:Mode:rMode:de:->userMode:uususeususerMode:eruserMode:Mode:rMode:erMuserMode:ode:seruserModeususerMode:erMode::ModeuserMode::F[useususerMode:erMode:rMode:1], 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57.3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erMode::q[4uuserMode:suserMode:eruserMode:Mode:]useuserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuseruserMode:Mode:ode:Mode:serMouserMode:de:erMouserMode:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuserMode:e:ruserMode:ModeuserMode:::userMode:ususerMode:userMode:erMususerModuserMode:e:erMouseuserMode:rMode:de:ode:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:userMode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMode:erModuserModeuuserMode:serMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duserMode:e:Mode:[ususerMode:erMode:ususerMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruseruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuuserMode:serMode:ruseruserMode:Mode:ususerMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:userModeuserMode::_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMusuuserMode:suserMode:erMode:euserMode:rMode:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMuserMode:ode:->uuserModeuseruserMode:Mode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuserMode:ususerMode:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMode:serModuserMode:e:useuserMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserMode::seruserMode:Mode::MuserMode:oduserModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserMode:userModuserMode:e::MuseuserMuserMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserMode:rMode:rMuserMode:ode:usususerMode:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserMode:ode:Mode:::MoususerMode:userMode:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserMode:uuuserMode:serMode:serModeuserMuserMode:oduserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userMode:],uuseruserMuserMode:ode:MuserMuserMode:ode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserMode:serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserMode:de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userMode:>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:ode:e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:ModeuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuseruserMode:Mode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:userususerMode:erMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususeruserMode:usuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:euserMode::uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserMode:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::ode:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:de:serMuserMuserMode:ode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserMode:e:serMuseuserMode:rMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMode:de:Mode:uuserMouserMode:de:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserModeuserMode::e:useuserMode:rMuserMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userMode:userMode:>userModeuserMode::useuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:serModuserModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouserMode:de::userususeruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMode:ode:MuserMode:ode:cppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeuserMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::useruserMode:Mode:uuseruserMode:ModeuserMode::serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserMuserMode:odeuserMode:::Mode:useruserMode:Mode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserMode::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= 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rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rModuseruserMode:Mode:e:userModeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:Mode:::useruseruserModuseruseruserMode:Mode:Mode:euserMode:useruserMode:Mode::ModususerMode:euserMode:ruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- userMode:rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuserMode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::[0]userModeuseruseruserMode:Mode:Mode::);
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uususerModuserMode:e:erModeuserMode::serMouserMode:de:useruseruserModeuserMode::Mode:ModuserMususerMode:eruseruserMode:userModeuserModeuserMode:::MuserMode:odeuserMode::Mode:ode:useruserModuserModuserMode:euserMouserMode:de::e:MouserModuserModuserMode:euserMode::e:duseuserusuuserMode:serModuserMode:e:uuserMode:er_org.useuserModuserMode:e:userMode:ruuserMode:serMode:MouserMode:duserMode:e:cuuserMode:seruuseuserMode:rMode:seuserMode:rMode:Mode:userMode:ppususerMode:erMode::			// rt->uuserMode:serModeuseuseruserMode:Mode:rMode::tiuserMode:me userMouserMode:dususeruserMode:Mode:erMode:euseuserMode:rMouserMode:de::userMode:iuserMode:userMuserMode:ode:s userMode:userModeuserMouserMode:duseruserMode:Mode:e::timuuserMode:useruseuserMode:rMode:Mode:seruserMode:Mode:e euuserMuserMode:oduserMode:userMode:e:seuserMouseruserMode:Mode:de:ruserMode:Mode:rt->huserMode:onduseuserModeuserMode::rusususerMode:erMode:eususerMode:erMode:rMode:Mode:auseruserMode:Mode:userMode:_couserMode:unuserMode:t 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userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserMode:rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:euseuserMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMode:e:rMouseruserMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serMode:Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruseuserMode:rMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:userMode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuuserMode:serMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserMuserMode:odeuserMode::suserMode:userMode:erMuserMode:oususeruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:userMode:MuserMode:userMode:ode:t-userMuserMode:oduserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::dususerMode:erMode:e:[1ususeuseuserMode:rMode:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:euserMode:::], rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserModuserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suserMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuserMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: rt-uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:useruserMode:Mode:			usuuserModuserMode:e:suserMode:userMode:erMuserMode:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserModuserMode:e:ModuserMode:e:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:MouserMode:deususeuseruseuserMode:rMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMouuserMode:suserMode:erMode:de:.3*ususeruseuserMode:rMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMouserMode:de:userMode:userMouuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[useuserMode:rMode:ususerMouserModuserMode:e:de:euuserMode:serMode:rMuserMuseruseuserMode:rMode:Mode:uuserMode:suserMode:erususerMode:erModuserMode:e:de:ouserMode:userMode:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruseuserMode:rMode:Mode:ruserMode:userMode:MuserMode:uuserModeuseruserMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruseuserMode:rMode:Mode:eruserMode:Mode:userMode::deuserMode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruseuseruserMode:Mode:rMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	userMode:57userMode:useuserMode:rMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruseruserMode:MuserMode:ode:ModeuserMode::MuseuserMode:rMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuseuserMode:rMode:seruserMode:MuserMode:odeuserMode::[3]useuseuserMode:rMode:rMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserMuserMode:oduuserMode:serMode:e:serMouserMode:de:ouserMode:duserMode:euserModeuseuserMode:rMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeususeuserMode:rMode:erMode:: 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rt->userModuuserMode:suserMode:erMoususerMode:erMode:de:serMouuserMode:seuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMouserMode:de:uuserModeuserMode::serMode:ouseuserMode:rMode:de:userMode:de:userMode:userModuserMode:userMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseuserMode:rususerMode:erMuuserMode:serMode:ode:ModuserMode:e:serMode:Mode:ususerModuserModuserMode:e:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserModuseuseruserMode:Mode:rMode:e:sususerMode:euserModuserMode:e:userMode:e:ouserModeuserMode:userMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:userMuserMode:ode:oduserMode:e:seruserModeuserModususerMode:erMode:e::userModeususerMode:eruserMode:Mode::Mode:de:.cuseruserMode:useruserMode:MouserMode:de:MouseruserMuserMode:ode:uuserMode:suserMode:erMode:MouserMode:de:uuserMode:seruserMode:Mode:userModeuserMouserMode:de::de:userMode:pp:userMouuserMode:serModuuserMode:serMode:e:de:	ususerMode:erMode:		userMouserMode:de:			ususerMode:erModuserMode:euserMode::rt-userModeuserMode:userMode::>userMouserMode:userMode:de:xuseruserModeuserMode::Mode:ee[1userMouserMode:deuseruseuserMouserMode:duserMode:e:rMode:MoususerMode:erModuseruserMode:Mode:euserMouserMode:duserMode:e::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMouserMode:de:ouseruserModuserMode:e:Mode:duserMode:ususeuserMode:rMode:erModeuserMode::e:tuserMode:->xuseuserMode:rModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rMouserMode:deuserMode::useuserMode:rMode:uuserMode:suseususeuserMode:rMode:erMode:rModeuseuserMode:rMode:uuserMode:serMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMouserMode:de:rt->ususerMouserMode:de:erMouserMode:de:F[0]uuserModuserMode:e:serModeuserMode:userModuserMouserMode:deuserMode::e:ususuuserModuserModuserMode:e:e:serMouserModuserMode:e:de:userModeuserMode::duserMode:e:teuseruserMode:Mode:userMode:userMode:r_userMode:org.cpp:	ususerMode:erMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuseruserMode:Mode:uuserMode:serususerMode:erMode:ModeuseruserModuserMode:e:Mode::serMode:userModuserMoususerMode:erMode:de:e:rtuseruserMode:userMouserMode:deuseuserMouserMode:de:ususerMode:eruserMouserModuserMode:e:de:Mode:ruserMode:MuserMode:ouserMode:de:userMode:userMode::MouseuseruserMode:Mode:rMode:de:->userMode:uususeususerMode:eruserMode:Mode:rMode:erMuserMode:ode:seruserModeususerMode:erMode::ModeuserMode::F[useususerMode:erMode:rMode:1], 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useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMuserMode:ode:->uuserModeuseruserMode:Mode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuserMode:ususerMode:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMode:serModuserMode:e:useuserMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserMode::seruserMode:Mode::MuserMode:oduserModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserMode:userModuserMode:e::MuseuserMuserMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserMode:rMode:rMuserMode:ode:usususerMode:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserMode:ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserMode:uuuserMode:serMode:serModeuserMuserMode:oduserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userMode:],uuseruserMuserMode:ode:MuserMuserMode:ode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserMode:serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserMode:de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userMode:>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:ode:e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuseruserMode:Mode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:userususerMode:erMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususeruserMode:usuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:euserMode::uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserMode:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:de:serMuserMuserMode:ode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserMode:e:serMuseuserMode:rMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMode:de:Mode:uuserMouserMode:de:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserModeuserMode::e:useuserMode:rMuserMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::useuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:serModuserModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouserMode:de::userususeruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode::serModuserMode:e:eruseuserMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeuserMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMuserMode:ode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:seruserMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::useruserMode:Mode:uuseruserMode:ModeuserMode::serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserMuserMode:odeuserMode:::Mode:useruserMode:Mode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserMode::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseususerMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruserMode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= 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rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:Mode:serMouserMode:dususeruserMode:Mode:erMode:e:duseruserMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:userModeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:Mode:::useruseruserModuseruseruserMode:Mode:Mode:euserMode:useruserMode:Mode::ModususerMode:euserMode:ruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- userMode:rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuserMode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruserMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserMode:rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouserMuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruserMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::[0]userModeuseruseruserMode:Mode:Mode::);
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ruserMode:tuserMode:->userMode:userModeuserMode::userModuserModuserModuserMode:e:e:e:houserMode:usususerMode:erMode:eruuserMode:serMode:ususeruserMouserModeuserMode::duserMode:e:userMode:Mode:erMuseruserMode:Mode:odeuserModeuseuserMode:rMode:::Mode:nda_countuserMode: iuseruserMode:MuseuserMode:rMouserMode:de:oduserMode:euserMode::s tuserMode:userMouserMode:uuserMode:serMode:de:hususerModuseruseuserMode:rMode:Mode:e:euserMode:rMouuseuserModuserMode:e:rMode:serModeuserMode::userMode:deuuserMouuserMode:serModuserMode:e:deuuseuserMode:rMode:serMode:userMode::serMode::euserMode:useruserMode:userMode:MouserMode:de: ususerMode:erMode:uuserMode:userMouserModeuserMode::deuserMode::useuserMode:rMode:serMuseuseruserMode:MouserMode:de:useuserMode:rMouserMuserMode:ode:de:rMode:ouseuserMode:rMode:duserMode:e:userMode:seuserMode:rvuserModeususerMode:erModeuserMode:::o loususerMode:erMode:uuserMode:serModuserMode:e:ouserModuserMode:e:p 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userMode:rt->userModeuserModuserMode:e::uuserMode:serMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMuseruserMode:Mode:ouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMuserMode:ode:ruserMode:t->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMouserMode:de:ode:deuserMuserMode:ode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userModuserMode:e:erModeuseruserMode:MouserMode:de::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rtuserMode:->xuuserModuserMode:e:serMode:ususerMode:erMode:[1]ususerMode:eruserMode:ModususerMode:userMode:eususerMode:erMode:rMode:e:, userMode:rususerMode:erMuserMode:ode:iususerMode:euserMouserMode:de:ruseuserModuseuserMode:rMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduseuserMode:rMode:,0) == uususerModuserMode:e:erModeuserMode::serMouserMode:de:useruseruserModeuserMode::Mode:ModuserMususerMode:eruseruserMode:userModeuserModeuserMode:::MuserMode:odeuserMode::Mode:ode:useruserModuserModuserMode:euserMouserMode:de::e:MouserModuserModuserMode:euserMode::e:duseuserusuuserMode:serModuserMode:e:uuserMode:er_org.useuserModuserMode:e:userMode:ruuserMode:serMode:MouserMode:duserMode:e:cuuserMode:seruuseuserMode:rMode:seuserMode:rMode:Mode:userMode:ppususerMode:erMode::			// rt->uuserMode:serModeuseuseruserMode:Mode:rMode::tiuserMode:me userMouserMode:dususeruseruserMode:Mode:Mode:erMode:euseuserMode:rMouserMode:de::userMode:iuserMode:userMuserMode:ode:s userMode:userModeuserMouserMode:duseruserMode:Mode:e::timuuserMode:useruseuserMode:rMode:Mode:seruserMode:Mode:e 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userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserMode:rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:euseuserMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMode:e:rMouseruserMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serModeuserMode::Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruseuserMode:rMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:userMode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuuserMode:serMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserMuserMode:odeuserMode::suserMode:userMode:erMuserMode:oususeruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:userMode:MuserMode:userMode:ode:t-userMuserMode:oduserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::dususerMode:erMode:e:[1ususeuseuserMode:rMode:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:euserMode:::], rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserModuserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suserMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuserMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: rt-userMode:uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:useruserMode:Mode:			usuuserModuserMode:e:suserMode:userMode:erMuserMode:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserModuserMode:e:ModuserMode:e:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:MouserMode:deususeuseruseuserMode:rMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMouuserMode:suserMode:erMode:de:.3*ususeruseuserMode:rMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMouserMode:de:userMode:userMouuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[useuserMode:rMode:ususerMouserModuserMode:e:de:euuserMode:serMode:rMuserMuseruseuserMode:rMode:Mode:uuserMode:suserMode:erususerMode:erModuserMode:e:de:ouserMode:userMode:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruseuserMode:rMode:Mode:ruserMode:userMode:MuserMode:uuserModeuseruserMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruseuserMode:rMode:Mode:eruserMode:Mode:userMode::deuserMode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruseuseruserMode:Mode:rMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	userMode:57userMode:useuserMode:rMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruseruserMode:MuserMode:ode:ModeuserMode::MuseuserMode:rMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuseuserMode:rMode:seruserMode:MuserMode:odeuserMode::[3]useuseuserMode:rMode:rMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserMuserMode:oduuserMode:serMode:e:serMouserMode:de:ouserMode:duserMode:euserModeuseuserMode:rMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeususeuserMode:rModuserMode:e:erMode:: ususerMode:erModeuserMuserMode:ode:userModususerMouseuserMode:rMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:MouseruserMode:Mode:de:ModuserMode:eususerMode:erMode::userMode:oduserMode:e:e::57.3*rt->jguseuseuserMode:rMode:rModuserModeuserMode::e:ouseruseruseususerMode:userMuserMode:odeuseruserModeuserMode::Mode::erMode:rMuserMuserModeususerMode:erMode::ode:oduuseruseuserMode:rMode:Mode:seruserModeuuseuserMode:rMode:serMode:userMode::Mode:euserMususerModuseuserMode:ruserMode:Mode:euserMode:						userMode:57.3*rtuserMode:->uuseuserMode:rMode:seuserMode:rModeuserMode::userModeuserMode::uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMuserMode:ode:serModususeruseususerMode:euserMode:rMode:rMode:rMode:userMode:useruserMode:Mode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:uuserMode:serMouseruserModuseuserMode:rMode:e:Mode:duserModuserMode:euserMode::euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 5userMode:7.3uuuserMode:seruseuserMode:rMode:Mode:suserMususeuserMode:rMode:erMode:ode:eruserModuserMuserMode:useruseruserMode:Mode:Mode:ode:e:userMode:Mode:*ruserMode:t-userModeuserMode:userMuserMode:oduseruserMode:ModeuseuserMode:rMode::serususerMode:erMode:ModuserMode:e:userModeuserMode:::de:		userMuserMode:ususerMode:erMode:ode:			rt->x_duserMode:euserMode:suseuseuserMoususeruseuserMode:rMode:Mode:eruseuserMode:rMode:userMode:Mode:deuuserMuserMode:ode:seuserModuserModuserMode:e:e:rMuuserMode:serMode:ode::rMuserMode:oduuserMode:serModuuseuserMode:rMode:serMouserMode:de:e:e:ruseuseruserMode:Mode:rMouserMode:de:ModeuserModeuserMuuserMode:seuserMode:ruserMode:Mode:oduseuserMode:rMode:e::userMode::useuserMode:rMode:userMode:[1userMode:useuserMode:rMuserMode:ode:uuserModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2ususerMode:erMode:])userMode:;useuserModeuserMode::rMode:duserMode:e:e:		userMuseruserMode:ModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:seuserMode:rMode:], rt->userModuuserMode:suserMode:erMoususerMouserMode:de:erMode:de:serMouuserMode:seuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMouserMode:de:uuserModeuserMode::serMode:ouseuserMode:rMode:de:userMode:de:userMode:userModuserMode:userMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseuserMode:rususerMode:erMuuserMode:serMode:ode:ModuserMode:e:serMode:Mode:ususerModuserModuserMode:e:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserModuseuseruserMode:Mode:rMode:e:sususerMode:euserModuserMode:e:userMode:e:ouserModeuserMode:userMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:userMuserMode:ode:oduserMode:e:seruserModeuserModususerMode:erMode:e::userModeususerMode:eruserMode:Mode::Mode:de:.cuseruserMode:useruserMode:MouserMode:de:MouseruserMuserMode:ode:uuserMode:suserMode:erMode:MouserMode:de:uuserMode:seruserMode:Mode:userModeuserMouserMode:de::de:userMode:pp:userMouuserMode:serModuuserMode:serMode:e:de:	ususerMode:erMode:		userMouserMode:de:			ususerMode:erModuserMode:euserMode::rt-userModeuserMode:userMode::>userMouserMode:userMode:de:xuseruserModeuserMode::Mode:ee[1userMouserMode:deuseruseuserMouserMode:duserMode:e:rMode:MoususerMode:erModuseruserMode:Mode:euserMouserMode:duserMode:e::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMouserMode:de:ouseruserModuserMode:e:Mode:duserMode:ususeuserMode:rMode:erModeuserMode::e:tuserMode:->xuseuserMode:rModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rMouserMode:deuserMode::useuserMode:rMode:uuserMode:suseususeuserMode:rMode:erMode:rModeuseuserMode:rMode:uuserMode:serMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMouserMode:de:rt->ususerMouserMode:de:erMouserMode:de:F[0]uuserModuserMode:e:serModeuserMode:userModuserMouserMode:deuserMode::e:ususuuserModuserModuserMode:e:e:serMouserModuserMode:e:de:userModeuserMode::duserMode:e:teuseruserMode:Mode:userMode:userMode:r_userMode:org.cpp:	ususerMode:erMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuseruserMode:Mode:uuserMode:serususerMode:erMode:ModeuseruserModuserModuserMode:e:e:Mode::serMode:userModuserMoususerMode:erMode:de:e:rtuseruserMode:userMouserMode:deuseuserMouserMode:de:ususerMode:eruserMouserModuserMode:e:de:Mode:ruserMode:MuserMode:ouserMode:de:userMode:userMode::MouseuseruserMode:Mode:rMode:de:->userMode:uususeususerMode:eruserMode:Mode:rMode:erMuserMode:ode:seruserModeususerMode:erMode::ModeuserMode::F[useususerMode:erMode:rMode:1], 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useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMuserMode:ode:->uuserModeuseruserMode:Mode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuserMode:ususerMode:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMode:serModuserMode:e:useuserMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserMode::seruserMode:Mode::MuserMode:oduserModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserMode:userModuserMode:e::MuseuserMuserMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserMode:rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserMode:ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserMode:uuuserMode:serMode:serModeuserMuserMode:oduserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userMode:],uuseruserMuserMode:ode:MuserMuserMode:ode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserMode:serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserMode:de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userMode:>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuseruserMode:Mode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:userususerMode:erMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususeruserMode:usuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:euserMode::uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserMode:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMuserMode:ode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:de:serMuserMuserMode:ode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserMode:e:serMuseuserMode:rMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMode:de:Mode:uuserMouserMode:de:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuserMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::useuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:serModuserModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouserMode:de::userususeruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:useuserMouuserMode:serMode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeuserMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useususerMode:erMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMuserModeuserMode::ode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:seruserMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::useruserMode:Mode:uuseruserMode:ModeuserMode::serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t 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= userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:duseuserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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=userMode:usususeruserMode:Mode:erMuserMode:oduserMuserModuserMode:e:ouserMode:de:userMode:e:userMode:erususeruserMode:Mode:eruserMode:ModususeuserMode:rMode:erMode:euserMode::useruserMouserMouserMode:de:deususerMode:erMode::Mode:ModeuserMode::uuserMouserMode:de:seruserModeuserMode::Mode:ususerMode:euserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:euserMode::oduserMode:ususerModeuserMode::euserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMususerMode:erMode:oduseruserMode:MuserMode:ode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserModuserMode:e:rMuserMode:ode:MuserMuserMode:oduserMode:e:ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:useruserMode:Mode:e:userMode:useuserMode:rMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMuserMode:ode:uuserMode:seruserModeuseuserMode:rMode::Mode:de:userModeuserMode::useruserMode:MuseuseuserMode:rMode:rMode:ouuserMode:serMode:de:odeuserMode::userMuserMode:ouserMode:de:useuserMode:rModuserMode:e:useruserMode:Mode:usuuserMode:seruseruserModuserMode:e:MuserMode:odeuserMode::ouserModeuuserMode:serMode::deuseruserMode:MouseuseuserMode:rMode:rMode:deuserMode:::userMode:userMode:mainususerMode:erMode:.cuuserMode:serMouserMode:deuserMouserMode:de::puuserModeuserMode::serMuseruseuserMuserMode:ode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	ruserMode:tuserMode:-uususerMode:euserModuserMode:e:rMode:suserMode:erModuserMode:e:userModeuserMode::userMususerMode:erMode:ode:rt-userModeuserMode::>pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserModuserMode:e:rMode:	// 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userMode:cuserMode:ouuserMode:nuserMuserMode:ouserModuserModeuserMode::e:de:t userMususerMode:eruserMode:Mode:odeuserMode::6.1f, userMode:userMode: %d\nuuserMode:serusususerMode:euserMode:ususerMode:erMuserMode:ode:rMode:erMode:MouuserModeuserMode::suseruuserMode:serMode:Mode:userMode:eruserModeuserMode::userMode:MuseuserMode:rMode:ode:de:", userMode:rt->userModeuserModuserMode:e::uuserMode:serMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMuseruserMode:Mode:ouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMuserMode:ode:ruserMode:t->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMouserMode:de:ode:deuserMuserMode:ode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userModuserMode:e:erModeuseruserMode:MouserMode:de::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rtuserMode:->xuuserModuserMode:e:serMode:ususerMode:erMode:[1]ususerMode:eruserMode:ModususerMode:userMode:eususerMode:erMode:rMode:e:, userMode:rususerMode:erMuserMode:ode:iususerMode:euserMouserMode:de:ruseuserModuseuserMode:rMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduseuserMode:rMode:,0) == uususerModuserMode:e:erModeuserMode::serMouserMode:de:useruseruserModeuserMode::Mode:ModuserMususerMode:eruseruserMode:userModeuserModeuserMode:::MuserMode:odeuserMode::Mode:ode:useruserModuserModuserMode:euserMouserMode:de::e:MouserModuserModuserMode:euserMode::e:duseuserusuuserMode:serModuserMode:e:uuserMode:er_org.useuserModuserMode:e:userMode:ruuserMode:serMode:MouserMode:duserMode:e:cuuserMode:seruuseuserMode:rMode:seuserMode:rMode:Mode:userMode:ppususeruserMode:Mode:erMode::			// rt->uuserMode:serModeuseuseruserMode:Mode:rMode::tiuserMode:me userMouserMode:dususeruseruserMode:Mode:Mode:erMode:euseuserMode:rMouserMode:de::userMode:iuserMode:userMuserMode:ode:s userMode:userModeuserMouserMode:duseruserMode:Mode:e::timuuserMode:useruseuserMode:rMode:Mode:seruserMode:Mode:e 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userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserMode:rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:euseuserMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMode:e:rMouserususerMode:erMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serModeuserMode::Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruseuserMode:rMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:userMode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuuserMode:serMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserMuserMode:odeuserMode::suserMode:userMode:erMuserMode:oususeruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:userMode:MuserMode:userMode:ode:t-userMuserMode:oduserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::dususerMode:erMode:e:[1ususeuseuserMode:rMode:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:euserMode:::], rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserModuserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suserMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: rt-userMode:uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:useruserMode:Mode:			usuuserModuserMode:e:suserMode:userMode:erMuserMode:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserModuserMode:e:ModuserMode:e:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:MouserMode:deususeuseruseuserMode:rMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMouuserMode:suserMode:erMode:de:.3*ususeruseuserMode:rMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMouserMode:de:userMode:userMouuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[useuserMode:rMode:ususerMouserModuserMode:e:de:euuserMode:serMode:rMuserMuseruseuserMode:rMode:Mode:uuserMode:suserMode:erususerMode:erModuserMode:e:de:ouserMode:userMode:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruseuserMode:rMode:Mode:ruserMode:userMode:MuserMode:uuserModeuseruserMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruseuserMode:rMode:Mode:eruserMode:Mode:userMode::deuserMode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruseuseruserMode:Mode:rMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	userMode:57userMode:useuserMode:rMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruseruserMode:MuserMode:ode:ModeuserMode::MuseuserMode:rMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuseuserMode:rMode:seruserMode:MuserMode:odeuserMode::[3]useuseuserMode:rMode:rMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserMuserMode:oduuserMode:serMode:e:seruserMode:MouserMode:de:ouserMode:duserMode:euserModeuseuserMode:rMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeususeuserMode:rModuserMode:e:erMode:: ususerMode:erModeuserMuserMode:ode:userModususerMouseuserMode:rMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:MouseruserMode:Mode:de:ModuserMode:eususerMode:erMode::userMode:oduserMode:e:e::57.3*rt->jguseuseuserMode:rMode:rModuserModeuserMode::e:ouseruseruseususerMode:userMuserMode:odeuseruserModeuserMode::Mode::erMode:rMuserMuserModeususerMode:erMode::ode:oduuseruseuserMode:rMode:Mode:seruserModeuuseuserMode:rMode:serMode:userMode::Mode:euserMususerModuseuserMode:ruserMode:Mode:euserMode:						userMode:57.3*rtuserMode:->uuseuserMode:rMode:seuserMode:rModeuserMode::userModeuserMode::uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMuserMode:ode:serModususeruseususerMode:euserMode:rMode:rMode:rMode:userMode:useruserMode:Mode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:uuserMode:serMouseruserModuseuserMode:rMode:e:Mode:duserModuserMode:euserMode::euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 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rt->userModuuserMode:suserMode:erMoususerMouserMode:de:erMode:de:serMouuserMode:seuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMouserMode:de:uuserModeuserMode::serMode:ouseuserMode:rMode:de:userMode:de:userMode:userModuserMode:userMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseuserMode:rususerMode:erMuuserMode:serMode:ode:ModuserMode:e:serMode:Mode:ususerModuserModuserMode:e:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserModuseuseruserMode:Mode:rMode:e:sususerMode:euserModuserMode:e:userMode:e:ouserModeuserMode:userMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:userMuserMode:ode:oduserMode:e:seruserModeuserModususerMode:erMode:e::userModeususerMode:eruserMode:Mode::Mode:de:.cuseruserMode:useruserMode:MouserMode:de:MouseruserMuserMode:ode:uuserMode:suserMode:erMode:MouserMode:de:uuserMode:seruserMode:Mode:userModeuserMouserMode:de::de:userMode:pp:userMouuserMode:serModuuserMode:serMode:e:de:	ususerMode:erMode:		userMouserMode:de:			ususerMode:erModuserMode:euserMode::rt-userModeuserMode:userMode::>userMouserMode:userMode:de:xuseruserModeuserMode::Mode:ee[1userMouserMode:deuseruseuserMouserMode:duserMode:e:rMode:MoususerMode:erModuseruserMode:Mode:euserMouserMode:duserMode:e::de::userMode:], ruuserMode:useuserMode:rMode:serMuserMouserMode:de:ouseruserModuserMode:e:Mode:duserMode:ususeuserMode:rMode:erModeuserMode::e:tuserMode:->xuseuserMode:rModuserMode:e:euserMode:useuseruuserMode:serMode:Mode:rMouserMode:deuserMode::useuserMode:rMode:uuserMode:suseususeuserMode:rMode:erMode:rModeuseuserMode:rMode:uuserMode:serMuserMode:ouseruserMode:Mode:duserMode:euserMode:::erMouserMode:de:rt->ususerMouserMode:de:erMouserMode:de:F[0]uuserModuserMode:e:serModeuserMode:userModuserMouserMode:deuserMode::e:ususuuserModuserModuserMode:e:e:serMouserModuserMode:e:de:userModeuserMode::duserMode:e:teuseruserMode:Mode:userMode:userMode:r_userMuserMode:ode:org.cpp:	ususerMode:erMouserMode:de:				userMode:	useuserMode:rMode:userMode:uuseruserMode:Mode:uuserMode:serususerMode:erMode:ModeuseruserModuserModuserMode:e:e:Mode::serMode:userModuserMoususerMode:erMode:de:e:rtuseruserMode:userMouserMode:deuseuserMouserMode:de:ususerMode:eruserMouserModuserMode:e:de:Mode:ruserMode:MuserMode:ouserMode:de:userMode:userMode::MouseuseruserMode:Mode:rMode:de:->userMode:uususeususerMode:eruserMode:Mode:rMode:erMuserMode:ode:seruserModeususerMode:erMode::ModeuserMode::F[useususerMode:erMode:rMode:1], 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useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMuserMode:ode:->uuserModeuseruserMode:Mode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuserMode:ususerMode:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMode:serModuserMode:e:useuserMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserMode::seruserMode:Mode::MuserMode:oduserModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserMode:userModuserMode:e::MuseuserMuseuserMode:rMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserMode:rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserMode:ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserMode:uuuserMode:serMode:serModeuserMuserMode:oduserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userMode:],uuseruserMuserMode:ode:MuserMuserMode:ode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserMode:serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserMode:de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuseruserMode:Mode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:userususerMode:erMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususeruserMode:usuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:euserMode::uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserModuserMode:e:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMuserMode:ode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:de:serMuserMuserMode:ode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserMode:e:serMuseuserMode:rMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuserMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::useuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:serModuserModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouserMode:de::userususeruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userMode:::,userMode:ususerModeuserMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeuserMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useususerMode:erMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMuserModeuserMode::ode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:seruserMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::useruserMode:Mode:uuseruserMode:ModeuserMode::serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserMuserMode:odeuserMode:::Mode:useruserMode:Mode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruserususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserMode::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:ModeuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuserMode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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rtuseruserMode:Mode:-userMode:>tf[usuuserMode:serModuseruseruserMode:Mode:Mode:e:erususerususerMode:erMode:ModuseruserMode:Mode:e:erMuserMode:odeuserMode:ususerModeuseruserMode:Mode::erMode::ModeuuseuserMode:rMode:serMuseruserMode:Mode:ode::0], rt->tuseuserMode:rususeuseruseruserMode:Mode:Mode:ruseruserModuserMode:e:Mode:ModuseruserMode:Mode:e:eususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:serMuseuserMode:ruserMode:Mode:ouserMode:de::f[1userMode:useuuserMode:seuseruseruserMode:Mode:Mode:ruserMode:MouseruserMode:Mode:de:rMode:]useruserMode:Mode:, rt-userModuserMode:e:useuserMode:ruuserModeuseruserMode:Mode::seuserMode:rMode:ModeuseruserMode:ModeususeruseruserModeuserMode::Mode:Mode:eruseruserususerMode:erMode:de:useuserMode:ruserMode:Mode:MuserMode:ode:useuserMode:rModuserMode:e:ruseuseruserMode:Mode:rMode:tuseruserMouseruserMode:Mode:de:Mode:->useruserMode:Mode:a0[iuuserModuserMode:e:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuserModuserModuseruserMode:Mode:e:e:serMouuseruserMode:ModuserMode:e:serMouserMode:dususeruserMode:Mode:erMode:e:duseruseuserMode:rMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:userModeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:Mode:::useruseruserModuseruseruserMode:Mode:Mode:euserMode:useruserMode:Mode::ModususerMode:euserMode:ruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- 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rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMode:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserModuserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: 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rt->userModuuserMode:suserMode:erMoususerMouserMode:de:erMode:de:serMouuserMode:seuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMouserMode:de:uuserModeuserMode::serMode:ouseuserMode:rMode:de:userMode:de:userMode:userModuserMode:userMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseuserMode:rususerMode:erMuuserMode:serMode:ode:ModuserMode:e:serMode:Mode:ususerModuserModuserMode:e:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserModuseuseruserMode:Mode:rMode:e:sususerMode:euserModuserMode:e:userMode:e:ouserModeuserMode:userMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:userMuserMode:ode:oduserMode:e:seruserModeuserModususerMode:erMode:e::userModeususerMode:eruserMode:Mode::Mode:de:.cuseruserMode:useruserMode:MouserMode:de:MouseruserMuserMode:ode:uuserMode:suserMode:erMode:MouserMode:de:uuserMode:seruserMode:Mode:userModeuserMouserMode:de::de:userMode:pp:userMouuserMode:serModuuserMode:serMode:e:de:	ususerMode:erMode:		userMouserMode:de:			ususerMode:erModuserMode:euserMode::rt-userModeuserMode:userMode::>userMouserMode:userMode:de:xuseruserModeuserMode::Mode:ee[1userMouserMode:deuseruseuserMouserMode:duserMode:e:rMode:MoususerMode:erModuseruserMode:Mode:euserMouserMode:duserMode:e::de::userMode:], 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5uuserMode:suseuserMode:rModuserMode:e:userMode:eruseruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuuserModeuserMode::serMode:ruseruserMode:Mode:ususerMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:userModeuserMode::_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMusuuserMode:suserMode:erMode:euserMode:rMode:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMuserMode:ode:->uuserModeuseruserMode:Mode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuserMode:ususerMode:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMode:serModuserMode:e:useuserMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserMode::seruserMode:Mode::MuserMode:oduserMode:userModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserMode:userModuserMode:e::MuseuserMuseuserMode:rMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserMode:rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserMode:ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserMode:uuuserMode:serMode:serModeuserMuserMode:oduserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userMode:],uuseruserMuserMode:ode:MuserMuserMode:ode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserMode:serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserMode:de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuseruserMode:Mode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:userususerMode:erMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususeruserMode:usuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:userMode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:euserMode::uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:userMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserModuserMode:e:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMuserMode:ode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:de:serMuserMuserMode:ode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuserMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::useuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:serModuserModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouserMode:de::userususeruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:userMouserMode:de::puserMode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userMode:::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeuserMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useuserMode:rMode:userMuserMode:ode:useruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMode:useususerMode:erMode:ruserMode:Mode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:serMode:userMuserModeuserMode::ode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:uuserMode:seruserMode:MuserMode:ode:userMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::useruserMode:Mode:uuseruserMode:ModeuserMode::serMode:userMode:useuserMode:rMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:useruserMode:Mode:ususerMode:erMode:userMode:userMode:t->ususeruserMode:Mode:erExuserMode:iuserModeuserMode::t = useruserMouserMode:deuserMuserMode:odeuserMode:::Mode:useruserMode:Mode:1useuuserMode:serMode:rMode:useuseuserMode:rMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::\n"userMode:,useuserMode:rModeususerMode:erMode::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserMode::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::ouseruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, 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userMouseruseruserMode:Mode:Mode:de:= 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rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMususeruserMode:Mode:erModeuserMode::ouseruserMode:Mode:deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruserMode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuseruserMode:ModuserModuseruserMode:Mode:e:e:serMouuseruserMode:ModuserMode:e:serMouserMode:dususeruserMode:Mode:erMode:e:duseruseuserMode:rMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:userModeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:Mode:::useruseruserModuseruseruserMode:Mode:Mode:euserMode:useruserMode:Mode::ModususerMode:euserMode:ruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- 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userMouserMode:de:useruseruserMode:ModuserMode:e:Mode:57ususerMuuseruserMode:Mode:serMode:ouserMode:de:eususerMode:erModuserModeuserMode::userMode:e:ruuserMode:serMouserMode:de:Mode:.useruuserMode:serMode:MouserMode:de:3*userMode:rt-uuuseuserMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususerMode:eruseruserMode:Mode:MuserMode:ode:ModeuseuserMode:rususerMode:userMode:erMode:useruseruserMode:Mode:userMode:MouserModuserMode:e:de:userMode:MuserModuserMode:e:userMode:ode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:Mode:57.3*userMode:rt->userMode:quseruserMode:Mode:[uususerMode:erMode:useuserMode:rMuserMode:oususerMode:eruseuseuserMode:rMode:rMode:Mode:de:userModuserMode:euseruserMode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouserMode:deuserModeuserMode:::deuserMode::ode:erMuuuserMode:serMouserMode:de:serMouserModeuserMode:userMode::de:ouserMode:deuserMode::3],uuserMode:serMouserMode:userMode:de: 57.3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erMode::q[4uuserMode:suserMode:eruserMode:Mode:]useuserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:seruserMode:ModuserModuserMode:e:e:userModusuuseruserMuseruserMode:Mode:ode:Mode:serMouserMode:de:erMouserMode:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuserMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMususerModuserMode:e:erMouseuserMode:rMode:de:ode:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:serMode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMouserMode:de:erModuserModeuuserMode:serMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duserModuserMode:e:e:Mode:[ususerMode:erMode:ususerMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruseruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuuserModeuserMode::serMode:ruseruserMode:Mode:ususerMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:userModeuserMode::_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMusuuserMode:suserMode:erMode:euserMode:rMode:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMuserMode:ode:->uuserModeuseruserMode:Mode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuserMode:ususerMode:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMode:serModuserMode:e:useuserMode:userMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserMode::seruserMode:Mode::MuserMode:oduserMode:userModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserMode:userModuserMode:e::MuseuserMuseuserMode:rMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserMode:rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserMode:ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserMode:uuuserMode:serMode:serModeuserMuserMode:oduserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userMode:],uuseruserMuserMode:ode:MuserMuserMode:ode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserMode:serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserMode::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuseruserMode:Mode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:userususerMode:erMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rMode:serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususeruserMode:usuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:useruserMode:Mode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:euserMode::uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:userMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserModuserMode:e:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMuserMode:ode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::useruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuserMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::useuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:serModuserModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouserMode:de::userususeruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:userMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userMode:::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeuserMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserMode::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuserMode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= 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57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMouuserMode:suserMode:erMode:de:.3*ususeruseuserMode:rMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMouserMode:de:userMode:userMouuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[useuserMode:rMode:ususerMouserModuserMode:e:de:euuserMode:serMode:rMuserMuseruseuserMode:rMode:Mode:uuserMode:suserMode:erususerMode:erModuserMode:e:de:ouserMode:userMode:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruseuserMode:rMode:Mode:ruserMode:userMode:MuserMode:uuserModeuseruserMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruseuserMode:rMode:Mode:eruserMode:Mode:userMode::deuserMode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruseuseruserMode:Mode:rMode:Mode:Mode:erMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	userMode:57userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruseruserMode:MuserMode:ode:ModeuseruserMode:Mode::MuseuserMode:rMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuseuserMode:rMode:seruserMode:MuseuserMode:rMode:odeuserMode::[3]useuseuserMode:rMode:rMode:,userMode: 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userMouserMode:de:useruseruserMode:ModuserMode:e:Mode:57ususerMuuseruserMode:Mode:serMode:ouserMode:de:eususerMode:erModuserModeuserMode::userMode:e:ruuserMode:serMouserMode:de:Mode:.useruuserMode:serMode:MouserMode:de:3*userMode:rt-uuuseuserMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususerMode:eruseruserMode:Mode:MuserMode:ode:ModeuseuserMode:rususerMode:userMode:erMode:useruseruserMode:Mode:userMode:MouserModuserMode:e:de:userMode:MuserModuserMode:e:userMode:ode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:Mode:57.3*userMode:rt->userMode:quseruserMode:Mode:[uususerMode:erMode:useuserMode:rMuserMode:oususerMode:eruseuseuserMode:rMode:rMode:Mode:de:userModuserMode:euseruserMode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouserMode:deuserModeuserMode:::deuserMode::ode:erMuuuserMode:serMouserMode:de:serMouserModeuserMode:userMode::de:ouserMode:deuserMode::3],uuserMode:serMouserMode:userMode:de: 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5uuserMode:suseuserMode:rModuserMode:e:userMode:eruseruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuuserModeuserMode::serMode:ruseruserMode:Mode:ususerMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:userModeuserMode::_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMusuuserMode:suserMode:erMode:euserMode:rMode:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMuserMode:ode:->uuserModeuseruserMode:Mode::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuserMode:ususerModuserMode:e:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMode:serModuserMode:e:useuserMode:userMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserMode::seruserMode:Mode::MuserMode:oduserMode:userModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserMode:userModuserMode:e::MuseuserMuseuserMode:rMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserMode:rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserMode:ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserMode:uuuserMode:serMode:serModeuserMuserMode:oduserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userMode:],uuseruserMuserMode:ode:MuserMuserMode:ode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserModeuserMode::serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserMode::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuseruserMode:Mode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuserMode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:userususerMode:erMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rModeuserMode::serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususeruserMode:usuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:useruserMode:Mode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:euserMode::uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:userMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserModuserMode:e:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMuserMode:ode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserMode:useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuserMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::useuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:serModuserModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouserMode:de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:userMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userMode:::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeuserMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuserususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseuserMode:ruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserMode::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruserMode:Mode:ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= 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userMode:rt->userModeuserModuserMode:e::uuserMode:serMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMuseruserMode:Mode:ouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMuserMode:ode:ruserMode:t->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMouserMode:de:ode:deuserMuserMode:ode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userModuserMode:e:erModeuseruserMode:MouserMode:de::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rtuserMode:->xuuserModuserMode:e:serMode:ususerMode:erMode:[1]ususerMode:eruserMode:ModususerMode:userMode:eususerMode:erMode:rMode:e:, userMode:rususerMode:erMuserMode:ode:iususerMode:euserMouserMode:de:ruseuserModuseuserMode:rMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduseuserMode:rMode:,0) == 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userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:userMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserModeuserMode::rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:euseuuserMode:serMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMode:e:rMouserususerMode:erMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serModeuserMode::Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruseuserMode:rMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:userMode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuuserMode:serMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserMuserMode:odeuserMode::suserMode:userMode:erMuserMode:oususeruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:userMode:MuserMode:userMode:ode:t-userMuserMode:oduserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::dususerMode:erMode:e:[1ususeuseuserMode:rMode:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:euserMode:::], rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserMode:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: rt-userMode:uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:useruserMode:Mode:			usuuserModuserMode:e:suserMode:userMode:erMuserMode:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserModuserMode:e:ModuserMode:e:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:MouserMode:deususeuseruseuserMode:rMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMouuserMode:suserMode:erMode:de:.3*ususeruseuserMode:rMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMouserMode:de:userMode:userMouuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[useuserMode:rMode:ususerMouserModuserMode:e:de:euuserMode:serMode:rMuserMuseruseuserMode:rMode:Mode:uuserMode:suserMode:erususerMode:erModuserMode:e:de:ouserMode:userMode:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruseuserMode:rMode:Mode:ruserMode:userMode:MuserMode:uuserModeuseruserMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruseuserMode:rMode:Mode:eruserMode:Mode:userMode::deuserMode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruseuseruserMode:Mode:rMode:Mode:Mode:euserMode:rMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	userMode:57userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruseruserMode:MuserMode:ode:ModeuseruserMode:Mode::MuseuserMode:rMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuseuserMode:rMode:seruserMode:MuseuserMode:rMode:odeuserMode::[3]useuseuserMode:rMode:rMode:,userMode: 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ususerMode:erModeuserMuserMode:ode:userModususerMouseuserMode:rMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:MouseruserMode:Mode:de:ModuserMode:eususerMode:erMode::userMode:oduserMode:e:e::57.3*rt->jguseuseuserMode:rMode:rModuserModeuserMode::e:ouseruseruseususerMode:userMuserMode:odeuseruserModeuserMode::Mode::erMode:rMuserMuserModeususerMode:erMode::ode:oduuseruseuserMode:rMode:Mode:seruserModeuuseuserMode:rMode:serMode:userMode::Mode:euserMususerModuseuserMode:ruserMode:Mode:euserMode:						userMode:57.3*rtuserMode:->uuseuserMode:rMode:seuserMode:rModeuserMode::userModeuserMode::uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMuserMode:ode:serModususeruseususerMode:euserMode:rMode:rMode:rMode:userMode:useruserMode:Mode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:uuserMode:serMouseruserModuseuserMode:rMode:e:Mode:duserModuserMode:euserMode::euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 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rt->userModuuserMode:suserMode:erMoususerMouserMode:de:erMode:de:serMouuserMode:seuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMouserMode:de:uuserModeuserMode::serMode:ouseuserMode:rMode:de:userMode:de:userMode:userModuserMode:userMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseuserMode:rususerMode:erMuuserMode:serMode:ode:ModuserMode:e:serMode:Mode:ususerModuserModuserMode:e:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserModuseuseruserMode:Mode:rMode:e:sususerMode:euserModuserMode:e:userMode:e:ouserModeuserMode:userMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:userMuserMode:ode:oduserMode:e:seruserModeuserModususerMode:erMode:e::userModeususerMode:eruserMode:Mode::Mode:de:.cuseruserMode:useruserMode:MouserMode:de:MouseruserMuserMode:ode:uuserMode:suserMode:erMode:MouserMode:de:uuserMode:seruserMode:Mode:userModeuserMouserMode:de::de:userMode:pp:userMouuserMode:serModuuserMode:serMode:e:de:	ususerMode:erMode:		userMouserMode:de:			ususerMode:erModuserMode:euserMode::rt-userModeuserMode:userMode::>userMouserMode:userMode:de:xuseruserModeuserMode::Mode:ee[1userMouserMode:deuseruseuserMouserMode:duserMode:e:rMode:MoususerMode:erModuseruserMode:Mode:euserMouserMode:duserMode:e::de::userMode:], 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57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erMode::q[4uuserMode:suserMode:eruserMode:Mode:]useuserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:ode:Mode:serMouserMode:de:erMouserMode:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuserMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMususerModuserMode:e:erMouseuserMode:rMode:de:ode:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:serMode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMouserMode:de:erModuserModeuuserMode:serMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duserModuserMode:e:e:Mode:[ususerMode:erMode:ususerMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruseruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuuserModeuserMode::serMode:ruseruserMode:Mode:ususerMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:userModeuserMode::_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMusuuserMode:suserMode:erMode:euserMode:rMode:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMuserMode:ode:->uuserModeuseruserMode:ModuserMode:e::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuserMode:ususerModuserMode:e:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMode:serModuserMode:e:useuserMode:userMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserMode::seruserMode:Mode::MuserMode:oduserMode:userModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserMode:userModuserMode:e::MuseuserMuseuserMode:rMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserMode:rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserMode:ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserMode:uuuserMode:serMode:serModeuserMuserMode:oduserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userModeuserMode::],uuseruserMuserMode:ode:MuserMuserMode:ode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserModeuserMode::serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserMode::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userMode:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuseruserMode:Mode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuseruserMode:Mode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:userususerMode:erMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rModeuserMode::serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususeruserMode:usuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:useruserMode:Mode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:euserMode::uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:userMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserModuserMode:e:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMuserMode:ode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::au[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuserMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::useuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:serModuuserMode:serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouserMode:de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:userMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userMode:::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserMode:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuseuserMode:rususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseuserMode:ruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserMode::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
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userMode:= 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57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erMode::q[4uuserMode:suserMode:eruserMode:Mode:]useuserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:ode:Mode:serMouserMode:de:erMouserMode:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuserMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMususerModuserMode:e:erMouseuserMode:rMode:de:ode:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:serMode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMouserMode:de:erModuserModeuuserMode:serMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duserModuserMode:e:e:Mode:[ususerMode:erMode:ususerMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruseruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuuserModeuserMode::serMode:ruseruserMode:Mode:ususerMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:userModeuserMode::_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMusuuserMode:suserMode:erMode:euserMode:rModuserMode:e:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMuserMode:ode:->uuserModeuseruserMode:ModuserMode:e::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuserMode:ususerModuserMode:e:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMode:serModuserMode:e:useuserMode:userMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserMode::seruserMode:Mode::MuserMode:oduserMode:userModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserMode:userModuserMode:e::MuseuserMuseuserMode:rMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserMode:rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserMode:ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serMode:serModeuserMuserMode:oduserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userModeuserMode::],uuseruserMuserMode:ode:MuserMuserMode:ode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserModeuserMode::serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserMode::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMode:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userModuserMode:e:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuseruserMode:Mode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuseruserMode:Mode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:userususerMode:erMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rModeuserMode::serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususeruserMode:usuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:useruserMode:Mode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:euserMode::uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:userMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserModuserMode:e:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMuserMode:ode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouserMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuserMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuserMode:seuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:serModuuserMode:serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouserMode:de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:userMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userMode:::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuuserMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserModuserMode:e:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuseuserMode:rususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseuserMode:ruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserMode::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:Mode::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruserMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMuserMode:ususeruserMode:Mode:erModeuserMode::ouseruserMode:ModeuserMode::deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruseruserMode:Mode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMuserMode:ouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuseruserMode:ModuserModuseruserMode:Mode:e:e:serMouuseruserMode:ModuserMode:e:serMouserMode:dususeruserMode:Mode:erMode:e:duseruseuserMode:rMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:userModeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:Mode:::useruseruserModuseruseruserMode:Mode:Mode:euserMode:useruserMode:Mode::ModususerMode:euserMode:ruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- userMode:rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuserMode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:ModeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruseuserMode:rMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseuserMode:ruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserModeuserMode::rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouseruserMode:MuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruseuserMode:rMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::userMode:[0]userModeuseruseruserMode:Mode:Mode::);
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userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:userMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserModeuserMode::rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:euseuuserMode:serMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMode:e:rMouserususerMode:erMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serModeuserMode::Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruseuserMode:rMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:userMode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuuserMode:serMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserMuserMode:odeuserMode::suserMode:userMode:erMuserMode:oususeruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:userMode:MuserMode:userMode:ode:t-userMuserMode:oduserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::dususerMode:erMode:e:[1ususeuseuserMode:rMode:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:euserMode:::], rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deususerMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuserMode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: 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rt->userModuuserMode:suserMode:erMoususerMouserMode:de:erMode:de:serMouuserMode:seuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMouserMode:de:uuserModeuserMode::serMode:ouseuserMode:rMode:de:userMode:de:userMode:userModuserMode:userMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseuserMode:rususerMode:erMuuserMode:serMode:ode:ModuserMode:e:serMode:Mode:ususerModuserModuserMode:e:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserModuseuseruserMode:Mode:rMode:e:sususerMode:euserModuserMode:e:userMode:e:ouserModeuserMode:userMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:userMuserMode:ode:oduserMode:e:seruserModeuserModususerMode:erMode:e::userModeususerMode:eruserMode:Mode::Mode:de:.cuseruserMode:useruserMode:MouserMode:de:MouseruserMuserMode:ode:uuserMode:suserMode:erMode:MouserMode:de:uuserMode:seruserMode:Mode:userModeuserMouserMode:de::de:userMode:pp:userMouuserMode:serModuuserMode:serMode:e:de:	ususerMode:erMode:		userMoususerMode:erMode:de:			ususerMode:erModuserMode:euserMode::rt-userModeuserMode:userMode::>userMouserMode:userMode:de:xuseruserModeuserMode::Mode:ee[1userMouserModeuserMode::deuseruseuserMouserMode:duserMode:e:rMode:MoususerMode:erModuseruserMode:Mode:euserMouserMode:duserMode:e::de::userMode:], 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57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erMode::q[4uuserMode:suserMode:eruserMode:Mode:]useuserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:ode:Mode:serMouserMode:de:erMouserMode:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuserMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMususerModuserMode:e:erMouseuserMode:rMode:de:ode:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:serMode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMouserMode:de:erModuserModeuuserMode:serMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duserModuserMode:e:e:Mode:[ususerMode:erMode:ususerMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruseruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuuserModeuserMode::serMode:ruseruserMode:Mode:usuuserMode:serMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:userModeuserMode::_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMusuuserMode:suserMode:erMode:euserMode:rModuserMode:e:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMuserMode:ode:->uuserModeuseruserMode:ModuserMode:e::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuserMode:ususerModuserMode:e:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMode:serModuserMode:e:useuserMode:userMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserMode::seruserMode:Mode::MuserMode:oduserMode:userModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserMode:userModuserMode:e::MuseuserMuseuserMode:rMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserMode:rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serMode:serModeuserMuserMode:oduserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userModeuserMode::],uuseruserMuserMode:ode:MuserMuserMode:ode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserModeuserMode::serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserMode::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuserModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userModuserMode:e:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuseruserMode:Mode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuseruserMode:Mode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:userususerMode:erMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rModeuserMode::serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususeruserMode:usuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:useruserMode:Mode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:euserMode::uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:userMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserModuserMode:e:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userMode:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMuserMode:ode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouseuserMode:rMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuserMode:seuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:serModuuserMode:serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouserMode:de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:userMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userMode:::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuususerMode:erMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserModuserMode:e:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuseuserMode:rususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseuserMode:ruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserMode::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e 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userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quserMode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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userMode:rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuserMode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:MuserMode:odeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruseuserMode:rMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseuserMode:ruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserModeuserMode::rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouseruserMode:MuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruseuserMode:rMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::userMode:[0]userModeuseruseruserMode:Mode:Mode::);
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userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:userMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserModeuserMode::rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:euseuuserMode:serMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMode:e:rMouserususerMode:erMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serModeuserMode::Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruseuserMode:rMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:userMode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuuserMode:serMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserMuserMode:odeuserMode::suserMode:userMode:erMuserMode:oususeruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:userMode:MuserMode:userMode:ode:t-userMuserMode:oduserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::dususerMode:erMode:e:[1ususeuseuserMode:rMode:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:euserMode:::], rt->x[ususerMuserMode:oduseuserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deusuuserMode:serMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuserMode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: 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57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMouuserMode:suserMode:erMode:de:.3*ususeruseuserMode:rMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMouserMode:de:userMode:userMouuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[useuserMode:rMode:ususerMouserModuserMode:e:de:euuserMode:serMode:rMuserMuseruseuserMode:rMode:Mode:uuserMode:suserMode:erususerMode:erModuserMode:e:de:ouserMode:userModuserMode:e:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruseuserMode:rMode:Mode:ruserMode:userMode:MuserMode:uuserModeuseruserMode:userMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruseuserMode:rMode:Mode:eruserMode:Mode:userMode::deuserMuserMode:ode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruseuseruserMode:Mode:rMode:Mode:Mode:euserMode:rMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	userMode:57userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruseruserMode:MuserMode:ode:ModeuseruserMode:Mode::MuseuserMode:rMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuseuserMode:rMode:seruserMode:MuseuserMode:rMode:odeuserMode::[3]useuseuserMode:rMode:rMode:,userMode: 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5userMode:7.3uuuserMode:seruseuserMode:rMode:Mode:suseruserMode:MususeuserMode:rMode:erMode:ode:eruserModuserMuserMode:useruseruserMode:Mode:Mode:ode:e:userMode:Mode:*ruserMode:t-userModeuserMode:userMuserModuserMode:e:oduseruserMode:ModeuseuserMode:rMode::serususerMode:erMode:ModuserMode:e:userModeuserMode:::de:		userMuserMode:ususerMode:erMode:ode:			rt->x_userMode:duserMode:euserMode:suseuseuserMoususeruseuserMode:rMode:Mode:eruseuserMode:rMode:userMode:Mode:deuuserMuserMode:ode:seuserModuserModuserMode:e:userMode:e:rMuuserMode:serMode:ode::rMuserMode:oduuserMode:serModuuseuserMode:rMode:serMouserMode:de:e:e:ruseuseruserMode:Mode:rMouserMode:de:ModeuserModuserMode:euserMuuserMode:seuserMode:ruserMode:Mode:oduseuserMode:rMode:e::userMode::useuserMode:rMode:userMode:[1userMode:useuserMode:rMuserMode:ode:uuseuserMode:rModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2ususerMode:erMode:])userMode:;useuserModeuserMode::rMode:duserMode:e:e:		userMuseuserMode:ruserMode:ModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:seuserMode:rMode:], rt->userModuuserMode:suserMode:erMoususerMouserMode:de:erMode:de:serMouuserMode:seuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMouserMode:de:uuserModeuserMode::serMode:ouseuserMode:rMode:de:userMode:de:userMode:userModuserMode:userMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseuserMode:rususerMode:erMuuserMode:serMode:ode:ModuserMode:e:serMode:Mode:ususerModuserModuserMode:e:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserModuseuseruserMode:Mode:rMode:e:sususerMode:euserModuserMode:e:userMode:e:ouserModeuserMode:userMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:userMuserMode:ode:oduserMode:e:seruserModeuserModususerMode:erMode:e::userModeususerMode:eruserMode:Mode::Mode:de:.cuseruserMode:useruserMode:MouserMode:de:MouseruserMuserMode:ode:uuserMode:suserMode:erMode:MoususerMode:erMode:de:uuserMode:seruserMode:Mode:userModeuserMouserMode:de::de:userMode:pp:userMouuserMode:serModuuserMode:serMode:e:de:	ususerMode:erMode:		userMoususerMode:erMode:de:			ususerMode:erModuserMode:euserMode::rt-userModeuserMode:userMode::>userMouserMode:userMode:de:xuseruserModeuserMode::Mode:ee[1userMouserModeuserMode::deuseruseuserMouserMode:duserMode:e:rMode:MoususerMode:erModuseruserMode:Mode:euserMouserMode:duserMode:e::de::userMode:], 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57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erMode::q[4uuserMode:suserMode:eruserMode:Mode:]useuserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:ode:Mode:serMouserMode:de:erMouserMode:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuserMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMususerModuserMode:e:erMouseuserMode:rMode:de:ode:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:serMode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMouserMode:de:erModuserModeuuserMode:serMode::e:userMode:useruserMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duserModuserMode:e:e:Mode:[ususerMode:erMode:usuuserMode:serMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruseruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuuserModeuserMode::serMode:ruseruserMode:Mode:usuuserMode:serMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:userModeuserMode::_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMusuuserMode:suserMode:erMode:euserMode:rModuserMode:e:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMuserMode:ode:->uuserModeuseruserMode:ModuserMode:e::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuserMode:ususerModuserMode:e:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMode:serModuserMode:e:useuserMode:userMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserMode::seruserMode:Mode::MuserMode:oduserMode:userModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserMode:userModuserMode:e::MuseuserMuseuserMode:rMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuserMode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serMode:serModeuserMuserMode:oduserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userModeuserMode::],uuseruserMuserMode:ode:MuserMuserMode:ode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserModeuserMode::serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserMode::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:userMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userModuserMode:e:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuseruserMode:Mode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuseruserMode:Mode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:userususerMode:erMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rModeuserMode::serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususeruserMode:usuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:useruserMode:Mode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:euserMode::uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:userMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:Mode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserModuserMode:e:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userModuserMode:e:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMuserMode:ode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouseuserMode:rMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduserMuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuserMode:seuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:serModuuserMode:serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouserMode:de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:userMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userMode:::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->userMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:userMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuususerMode:erMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserModuserMode:e:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuseuserMode:rususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseuserMode:ruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserMode::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseuserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:::		rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useususerMode:erMuseruserMode:Mode:ode:rMode:useruserMode:ModuserMode:e::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruseuserMode:rMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMuserMode:ususeruserMode:Mode:erModeuserMode::ouseruserMode:ModeuserMode::deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruseruserMode:Mode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMuserMode:ouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuseruserMode:ModuserModuseruserMode:Mode:e:e:serMouuseruserMode:ModuserMode:e:serMouserMode:dususeruserMode:Mode:erMode:e:duseruseuserMode:rMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:userModeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:Mode:::useruseruserModuseruseruserMode:Mode:Mode:euserMode:useruserMode:Mode::ModususerMode:euserMode:ruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- userMode:rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:Mode:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuseruserMode:Mode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:MuserMode:odeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruseuserMode:rMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseuserMode:ruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserModeuserMode::rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouseruserMode:MuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruseuserMode:rMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::userMode:[0]userModeuseruseruserMode:Mode:Mode::);
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userMode:rt->userModeuserModuserMode:e::uuserMode:serMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMuseruserMode:Mode:ouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMuserMode:ode:ruserMode:t->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMouserMode:de:ode:deuserMuserMode:ode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userModuseruserMode:Mode:e:erModeuseruserMode:MouserMode:de::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rtuseruserMode:Mode:->xuuserModuserMode:e:serMode:ususerMode:erMode:[1]ususerMode:eruserMode:ModususerMode:userMode:eususeruserMode:Mode:erMode:rMode:e:, userMode:rususerMode:erMuserMode:ode:iususerMode:euserMouserMode:de:ruseuserModuseuseruserMode:Mode:rMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduseuserMode:rMode:,0) == 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userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:userMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserModeuserMode::rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:euseuuserMode:serMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMode:e:rMouserususerMode:erMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serModeuserMode::Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruseuserMode:rMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:userMode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuuserMode:serMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserMuserMode:odeuserMode::suserMode:userMode:erMuserMode:oususeruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:userMode:MuserMode:userMode:ode:t-userMuserMode:oduserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::dususerMode:erMode:e:[1ususeuseuserMode:rMode:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:euserMode:::], rt->x[ususerMuserMode:odususerMode:euserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deusuuserMode:serMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuserMode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: rt-userMode:uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:useruserMode:Mode:			usuuserModuserMode:e:suserMode:userMode:erMuserMode:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserModuserMode:e:ModuserMode:e:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:MouserMode:deususeuseruseuserMode:rMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMouuserMode:suserMode:erMode:de:.3*ususeruseuserMode:rMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMouserMode:de:userMode:userMouuserMode:serModeuserModeuseruseuserMode:rMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[useuserMode:rMode:ususerMouserModuuserMode:serMode:e:de:euuserMode:serMode:rMuserMuseruseuserMode:rMode:Mode:uuserMode:suserMode:erususerMode:erModuserMode:e:de:ouserMode:userModuserMode:e:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruseuserMode:rMode:Mode:ruserMode:userMode:MuserMode:uuserModeuseruserMode:userMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruseuserMode:rMode:Mode:eruserMode:Mode:userMode::deuserMuserMode:ode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruseuseruserMode:Mode:rMode:Mode:Mode:euserMode:rMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	userMode:57userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruseruserMode:MuserMode:ode:ModeuseruserMode:Mode::MuseuserMode:rMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuseuserMode:rMode:seruserMode:MuseuserMode:rMode:odeuserMode::[3]useuseuserMode:rMode:rMode:,userMode: 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ususerMode:erModeuserMuserMode:ode:userModususerMouseuserMode:rMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:MouseruserMode:Mode:de:ModuserMode:eususerMode:erMode::userMode:oduserMode:e:e::57.3*rt->jguseuseuserMode:rMode:rModuserModeuserMode::e:ouseruseruseususerMode:userMuserMode:odeuseruserModeuserMode::Mode::erMode:rMuserMuserModeususerMode:erMode::ode:oduuseruseuserMode:rMode:Mode:seruserModeuuseuserMode:rMode:serMode:userMode::Mode:euserMususerModuseuserMode:ruserMode:Mode:euserMode:						userMode:57.3*rtuserMode:->uuseuserMode:rMode:seuserMode:rModeuserMode::userModeuserMode::uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMuserMode:ode:serModususeruseususerMode:euserMode:rMode:rMode:rMode:useuserMode:rMode:useruserMode:Mode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:uuserMode:serMouseruserModuseuserMode:rMouserMode:de:e:Mode:duserModuserMode:euserMode::euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 5userMode:7.3uuuserMode:seruseuserMode:rMode:Mode:suseruserMode:MususeuserMode:rMode:erMode:ode:eruserModuserMuserMode:useruseruserMode:Mode:Mode:ode:e:userMode:Mode:*ruserMode:t-userModeuserMode:userMuserModuserMode:e:oduseruserMode:ModeuseuserMode:rMode::serususerMode:erMode:ModuserMode:e:userModeuserMode:::de:		userMuserMode:ususerMode:erMode:ode:			rt->x_userMode:duserMode:euserMode:suseuseuserMoususeruseuserMode:rMode:Mode:eruseuserMode:rMode:userMode:Mode:deuuserMuserMode:ode:seuserModuserModuserMode:e:userMode:e:rMuuserMode:serMode:ode::rMuserMode:oduuserMode:serModuuseuserMode:rMode:serMouserMode:de:e:e:ruseuseruserMode:Mode:rMouserMode:de:ModeuserModuserMode:euserMuuserMode:seuserMode:ruserMode:Mode:oduseuserMode:rMode:e::userMode::useuserMode:rMode:userMode:[1userMode:useuserMode:rMuserMode:ode:uuseuserMode:rModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2ususerMode:erMode:])userMode:;useuserModeuserMode::rMode:duserMode:e:e:		userMuseuserMode:ruserMode:ModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:seuserMode:rMode:], rt->userModuuserMode:suserMode:erMoususerMouserMode:de:erMode:de:serMouuserMode:seuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMouserMode:de:uuserModeuserMode::serMode:ouseuserMode:rMode:de:userMode:de:userMode:userModuserMode:userMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseuserMode:rususerMode:erMuuserMode:serMode:ode:ModuserMode:e:serMode:Mode:ususerModuserModuserMode:e:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserModuseuseruserMode:Mode:rMode:e:sususerMode:euserModuserMode:e:userMode:e:ouserModeuserMode:userMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:userMuserMode:ode:oduserMode:e:seruserModeuserModususerModuserMode:e:erMode:e::userModeususerMode:eruserMode:Mode::Mode:de:.cuseruserMode:useruserMode:MouserMode:de:MouseruserMuserMode:ode:uuserMode:suserMode:erMode:MoususerMode:erMode:de:uuserMode:seruserMode:Mode:userModeuserMouserMode:de::de:userMode:pp:userMouuserMode:serModuuserMode:serMode:e:de:	ususerMode:erMode:		userMoususerMode:erMode:de:			ususerMode:erModuserMode:euserMode::rt-userModeuserMode:userMode::>userMouserMode:userMode:de:xuseruserModeuserMode::Mode:ee[1userMouserModeuserMode::deuseruseuserMouserMode:duserMode:e:rMode:MoususerMode:erModuseruserMode:Mode:euserMouserMode:duserMode:e::de::userMode:], 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userMouserMode:de:useruseruserMode:ModuserMode:e:Mode:57ususerMuuseruserMode:Mode:serMode:ouserMode:de:eususerMode:erModuserModeuserMode::userMode:e:ruuserMode:serMouserMode:de:Mode:.useruuserMode:serMode:MouserMode:deuserMode::3*userMode:rt-uuuseuserMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususerMode:eruseruserMode:Mode:MuserMode:ode:ModeuseuserMode:rususerMode:userMode:erMode:useruseruserMode:Mode:userMode:MouserModuserMode:e:de:userMode:MuserModuseruserMode:Mode:e:userMode:ode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:Mode:57.3*userMode:rt->userMode:quseruserMode:Mode:[uususerMode:erMode:useuserMode:rMuserMode:oususerMode:eruseuseuserMode:rMode:rMode:Mode:de:userModuserMode:euseruseuserMode:rMode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouserMode:deuserModeuserMode:::deuserMode::ode:erMuuuserMode:serMouserMode:de:serMouserModeuserMode:userMode::de:ouserMode:deuserMode::3],uuserMode:serMouserMode:userMode:de: 57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erMode::q[4uuserMode:suserMode:eruserMode:Mode:]useuserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:ode:Mode:serMouserMode:de:erMouserMode:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuserMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMususerModuserMode:e:erMouseuserMode:rMode:de:ode:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:serMode:e:userMode:userMuserMode:ouseruserMode:Mode:ususeruserModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMouserMode:de:erModuserModeuuserMode:serMouserMode:de::e:userMode:useruserMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duserModuserMode:e:e:Mode:[ususerMode:erMode:usuuserMode:serMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruseruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuuserModeuserMode::serMode:ruseruserMode:Mode:usuuserMode:serMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:userModeuserMode::_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMusuuserMode:suserMode:erMode:euserMode:rModuserMode:e:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMuserMode:ode:->uuserModeuseruserMode:ModuserMode:e::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuserMode:ususerModuserMode:e:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMode:serModuserMode:e:useuserMode:userMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserMode::seruserMode:Mode::MuserMode:oduserMode:userModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserModeuserMode::userModuserMode:e::MuseuserMuseuserMode:rMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuserMode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serMode:serModeuserMuserMode:oduserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userModeuserMode::],uuseruserMuserMode:ode:MuserMuserMode:ode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserModeuserMode::serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserMode::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuserMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userModuserMode:e:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuseruserMode:Mode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuseruserMode:Mode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:userususerMode:erMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rModeuserMode::serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususeruserMode:usuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:useruserMode:Mode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:euserMode::uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:userMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:MuserMode:ode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserModuserMode:e:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userModuserMode:e:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMuserMode:ode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouseuserMode:rMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMode:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuserMode:seuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:serModuuserMode:serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouserMode:de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:userMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userMode:userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->useuserMode:rMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:userMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuususerMode:erMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserModuserMode:e:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuseuserMode:rususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseuserMode:ruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususerMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseuserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::MuseruserMode:Mode:ode:(rt->qgouserMouseruserMode:Mode:de:userModuseruseruseruserMode:Mode:Mode:Mode:e:useuseuseruserMode:Mode:rMode:rMode:userususeruserMode:Mode:eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 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rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruserMode:Mode:userMode:euseruserMode:Mode:useusususerMode:erMode:erMuseruserMode:Mode:ode:rMode:useruserMode:ModuserMode:e::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruseuserMode:rMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMuserMode:ususeruserMode:Mode:erModeuserMode::ouseruserMode:ModeuserMode::deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruseruserMode:Mode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMuserMode:ouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuseruserMode:ModuserModuseruserMode:Mode:e:e:serMouuseruserMode:ModuserMode:e:serMouserMode:dususeruserMode:Mode:erMode:e:duseruseuserMode:rMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:userModeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:Mode:::useruseruserModuseruseruserMode:Mode:Mode:euserMode:useruserMode:Mode::ModususerMode:euserMode:ruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- userMode:rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuserModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:MouserMode:de:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuseruserMode:Mode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:MuserMode:odeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruseuserMode:rMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseuserMode:ruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserModeuserMode::rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouseruserMode:MuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruseuserMode:rMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::userMode:[0]userModeuseruseruserMode:Mode:Mode::);
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uuserMode:seuseruserModeuserMode::uuserMode:serMode:Mode:userModeuserMode::rMuseruseruserMode:Mode:Mode:ouserMode:duserMode:e:rtuserMouserMode:de:-userModeuserMode::>userMode:uususerModeuserMode::euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:userMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::MouserMode:deuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuseruserMode:Mode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:useuserMode:rModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:MouserMode:de::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userModuserMode:e:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userModeuserMode::		userMuseuserMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::MouserMode:duserMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuseuserMode:rususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:ode:rMouserMode:de:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserModuserMode:e:ususerMode:eruserMode:MuserMode:ouserMouserMode:de:de::rt->muuuserMode:serMode:useruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuserMode:::rMode:ePauserMode:ramuseuserMode:rModeuserMode::eters(rt->a0userMoususeuserModeuserMode::rModeuserMode::euserMode:rMode:deuserMuuserModeuserMode::suserMode:erModeuserMode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserMode:duserMode:e:e::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euuserMode:serMode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:erMode:rModeuserMode::Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:useuseruserMode:ModuserMode:e:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serMuserMode:oduseruseuuseuserMode:rMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuuserMode:serMuserMode:ode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserModuseruserMode:Mode:e:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, 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userModeuserMode::usuuserModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMuserMode:ouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:serModuserMode:e:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserModuserMode:e:userMuserModuserMode:e:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rMouserMode:deuserMode:uususerMode:erModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserModeuserMode::e:Mode:deuuseuserMode:rMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:userMode:MuserMode:odususerMode:erModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::uuserMode:seruserModuseruserMode:Mode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:MuserMode:ode:de:userModuserMode:e:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::useuserMode:rMode:seruserMuserMode:odeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserModuserMode:e:euseuserMode:rMode:::userMode:	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] 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userMode:rt->userModeuserModuserMode:e::uuserMode:serMode:timuserModeuserMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMuseruserMode:Mode:ouuserMode:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMuserMode:ode:ruserMode:t->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMouseruserMode:Mode:de:ode:deuserMuserMode:ode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userModuseruserMode:Mode:e:erModeuseruserMode:MouserMode:de::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rtuseruserMode:Mode:->xuuserModuserMode:e:serMode:ususerMode:erMode:[1]ususerMode:eruserMode:ModususerMode:userMode:eususeruserMode:Mode:erMode:rMode:e:, userMode:rususerMode:erMuserMode:ode:iususerMode:euserMouserMode:de:ruseuserModuseuseruserMode:Mode:rMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduseuserMode:rMode:,0) == uususerModuserMode:e:erModeuseruserMode:Mode::serMouserMode:de:useruseruserModeuserMode::Mode:ModuserMususerMode:eruseruserMode:userModeuserModeuseruserMode:Mode:::MuserMode:odeuserMode::Mode:ode:useruserModuserModuserMode:euserMouserMode:de::e:MouserModuserModuseruserMode:Mode:euserMode::e:duseuserusuuserMode:serModuserMode:e:uuserMode:er_org.useuserModuserMode:e:userMode:ruuseruserMode:Mode:serMode:MouserMode:duserMode:e:cuuserMode:seruuseuserMode:rMode:seuserMode:rMode:Mode:userMode:ppususeruserMode:Mode:erMode::			// rt->uuserMode:serModeuseuseruserMode:Mode:rMode::tiuserMode:me userMouserMode:dususeruseruserMode:Mode:Mode:erMode:euseuserMode:rMouserMode:de::userMode:iuserMode:userMuserMode:ode:s userMode:userModeuserMouserMode:duseruserMode:Mode:e::timuuserMode:useruseuserMode:rMode:Mode:seruserMode:Mode:e 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userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:userMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserModeuserMode::rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:euseuuserMode:serMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMode:e:rMouserususerMode:erMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serModeuserMode::Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruseuserMode:rMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:userMode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuuserMode:serMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserMuserMode:odeuserMode::suserMode:userMode:erMuserMode:oususeruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:userMode:MuserMode:userMode:ode:t-userMuserMode:oduserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::dususerMode:erMode:e:[1ususeuseuserMode:rMouserMode:de:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:euserMode:::], rt->x[ususerMuserMode:odususerMode:euserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deusuuserMode:serMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuserMode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: rt-userMode:uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:useruserMode:Mode:			usuuserModuserMode:e:suserMode:userMode:erMuserMode:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserModuserMode:e:ModuserMode:e:de:erMuuserMode:serMode:ode:57.3*rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:MouserMode:deususeuseruseuserMode:rMode:Mode:rMode:erMode::l[0], 57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMouuserMode:suserMode:erMode:de:.3*ususeruseuserMode:rMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMouserMode:de:userMode:userMouuseuserMode:rMode:serModeuserModeuseruseuserMode:rMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[useuserMode:rMode:ususerMouserModuuserMode:serMode:e:de:euuserMode:serMode:rMuserMuseruseuserMode:rMode:Mode:uuserMode:suserMode:erususerMode:erModuserMode:e:de:ouserMode:userModuserMode:e:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruseuserMode:rMode:Mode:ruserMode:userMode:MuserMode:uuserModeuseruserMode:userMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruseuserMode:rMode:Mode:eruserMode:Mode:userMode::deuserMuserMode:ode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruseuseruserMode:Mode:rMode:Mode:Mode:euserMode:rMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	userMode:57userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruseruserMode:MuserMode:ode:ModeuseruserMode:Mode::MuseuserMode:rMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuseuserMode:rMode:seruserMode:MuseuserMode:rMode:odeuserMode::[3]useuseuserMode:rMode:rMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserMuserMode:oduuserMode:serMode:e:seruserMode:MouserMode:de:ouserMode:duserMode:euserModeuseuserMode:rMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeususeuserMode:rModuserMode:e:erMode:: ususerMode:erModeuserMuserMode:ode:userModususerMouseuserMode:rMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:MouseruserMode:Mode:de:ModuserMode:eususerMode:erMode::userMode:oduserMode:e:e::57.3*rt->jguseuseuserMode:rMode:rModuserModeuserMode::e:ouseruseruseususerMode:userMuserMode:odeuseruserModeuserMode::Mode::erMode:rMuserMuserModeususerMode:erMode::ode:oduuseruseuserMode:rMode:Mode:seruserModeuuseuserMode:rMode:serMode:userMode::Mode:euserMususerModuseuserMode:ruserMode:Mode:euserMode:						userMode:57.3*rtuserMode:->uuseuserMode:rMode:seuserMode:rModeuserMode::userModeuserModeuserMode:::uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMuserMode:ode:serModususeruseususerMode:euserMode:rMode:rMode:rMode:useuserMode:rMode:useruserMode:Mode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:uuserMode:serMouseruserModuseuserMode:rMouserMode:de:e:Mode:duserModuserMode:euserMode::euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 5userMode:7.3uuuserMode:seruseuserMode:rMode:Mode:suseruserMode:MususeuserMode:rMode:erMode:ode:eruserModuserMuserMode:useruseruserMode:Mode:Mode:ode:e:userMode:Mode:*ruserMode:t-userModeuserMode:userMuserModuserMode:e:oduseruserMode:ModeuseuserMode:rMode::serususerMode:erMode:ModuserMode:e:userModeuserMode:::de:		userMuserMode:ususerMode:erMode:ode:			rt->x_userMode:duserMode:euserMode:suseuseuserMoususeruseuserMode:rMode:Mode:eruseuserMode:rMode:userMode:Mode:deuuserMuserMode:ode:seuserModuserModuserMode:e:userMode:e:rMuuserMode:serMode:ode::rMuserMode:oduuserMode:serModuuseuserMode:rMode:serMouserMode:de:e:e:ruseuseruserMode:Mode:rMouserMode:de:ModeuserModuserMode:euserMuuserMode:seuserMode:ruserMode:Mode:oduseuserMode:rMode:e::userMode::useuserMode:rMode:userMode:[1userMode:useuserMode:rMuserMode:ode:uuseuserMode:rModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2ususerMode:erMode:])userMode:;useuserModeuserMode::rMode:duserMode:e:e:		userMuseuserMode:ruserMode:ModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:seuserMode:rMode:], rt->userModuuserMode:suserMode:erMoususerMouserMode:de:erMode:de:serMouuserMode:seuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMouserMode:de:uuserModeuserMode::serMode:ouseuserMode:rMode:de:userMode:de:userMode:userModuserMode:userMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseuserMode:rususerMode:erMuuserMode:serMode:ode:ModuserMode:e:serMode:Mode:ususerModuserModuserMode:e:e:erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserModuseuseruserMode:Mode:rMode:e:sususerMode:euserModuserMode:e:userMode:e:oususerMode:erModeuserMode:userMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:userMuserMode:ode:oduserMode:e:seruserModeuserModususerModuserMode:e:erMode:e::userModeususerMode:eruserMode:Mode::Mode:de:.cuseruserMode:useruserMode:MouserMode:de:MouseruserMuserMode:ode:uuserMode:suserMode:erMode:MoususerMode:erMode:de:uuserMode:seruserMode:Mode:userModeuserMouserMode:de::de:userMode:pp:userMouuserMode:serModuuserMode:serMode:e:de:	ususerMode:erMode:		userMoususerMode:erMode:de:			ususerMode:erModuserMode:euserMode::rt-userModeuserMode:userMode::>userMouserMode:userMode:de:xuseruserModeuserMode::Mode:ee[1userMouserModeuserMode::deuseruseuserMouserMode:duserMode:e:rMode:MoususerMode:erModuseruserMode:Mode:euserMouserMode:duserMode:e::de::userMode:], 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userMouserMode:de:useruseruserMode:ModuserMode:e:Mode:57ususerMuuseruserMode:Mode:serMode:ouserMode:de:eususerMode:erModuserModeuserMode::userMode:e:ruuserMode:serMouserMode:de:Mode:.useruuserMode:serMode:MouserMode:deuserMode::3*userMode:rt-uuuseuserMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususerMode:eruseruserMode:Mode:MuserMode:ode:ModeuseuserMode:rususerMode:userMode:erMode:useruseruserMode:Mode:userMode:MouserModuserMode:e:de:userMode:MuserModuseruserMode:Mode:e:userMode:ode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:Mode:57.3*userMode:rt->userMode:quseruserMode:Mode:[uususerMode:erMode:useuserMode:rMuserMode:oususerMode:eruseuseuserMode:rMode:rMode:Mode:de:userModuserMode:euseruseuserMode:rMode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouserMode:deuserModeuserMode:::deuserMode::ode:erMuuuserMode:serMouserMode:de:serMouserModeuserMode:userMode::de:ouserMode:deuserMode::3],uuserMode:serMouserMode:userMode:de: 57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erMode::q[4uuserMode:suserMode:eruserMode:Mode:]useuserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:ode:Mode:serMouserMode:de:erMouserMode:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuserMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMususerModuserMode:e:erMouseuserMode:rMode:de:ode:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:serMode:e:userMode:userMuserModuserMode:e:ouseruserMode:Mode:ususeruserModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMouserMode:de:erModuserModeuuserMode:serMouserMode:de::e:userMode:useruserMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duserModuserMode:e:e:Mode:[ususerMode:erMode:usuuserMode:serMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruseruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuuserModeuserMode::serMode:ruseruserMode:Mode:usuuserMode:serMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:userModeuserMode::_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMusuuserMode:suserMode:erMode:euserMode:rModuserMode:e:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMuserMode:ode:->uuserModeuseruserMode:ModuserMode:e::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuserMode:ususerModuserMode:e:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMode:serModuserMode:e:useuserMode:userMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserModeuserMode:::seruserMode:Mode::MuserMode:oduserMode:userModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserModeuserMode::userModuserMode:e::MuseuserMuseuserMode:rMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuserMode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serMode:serModeuserMuserMode:oduserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userModeuserMode::],uuseruserMuserMode:ode:MuserMuserMode:ode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserModeuserMode::serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserMode::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserMode:serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userModuserMode:e:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuseruserMode:Mode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuseruserMode:Mode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:userususerMode:erMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rModeuserMode::serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususeruserMode:usuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:useruserMode:Mode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:userMode:euserMode::uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:userMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:MuserMode:ode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserModuserMode:e:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userModuserMode:e:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMuserMode:ode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouseuserMode:rMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuserMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuserMode:seuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:serModuuserMode:serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouserMode:de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:uuserMode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserMode:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->useuserMode:rMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:userMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuususerMode:erMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserModuserMode:e:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuseuserMode:rususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseuserMode:ruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususeuserMode:rMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseuserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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userMouseruseruserMode:Mode:Mode:de:= 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rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuseuseruserMode:Mode:ruserMuserMode:oduseruseruserMode:Mode:Mode:userMode:euseruserMode:Mode:useusususerMode:erMode:erMuseruserMode:Mode:ode:rMode:useruserMode:ModuserMode:e::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruseuserMode:rMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMuserMode:ususeruserMode:Mode:erModeuserMode::ouseruserMode:ModeuserMode::deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruseruserMode:Mode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMuserMode:ouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuseruserMode:ModuserModuseruserMode:Mode:e:e:serMouuseruserMode:ModuserMode:e:serMouserMode:dususeruserMode:Mode:erMode:e:duseruseuserMode:rMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:userModeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:Mode:::useruseruserModuseruseruserMode:Mode:Mode:euserMode:useruserMode:Mode::ModususerMode:euserMode:ruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- 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rt->x[ususerMuserMode:odususerMode:euserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deusuuserMode:serMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuserMode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: 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5userMode:7.3uuuserMode:seruseuserMode:rMode:Mode:suseruserMode:MususeuserMode:rMode:erMode:ode:eruserModuserMuserMode:useruseruserMode:Mode:Mode:ode:e:userMode:Mode:*ruserMode:t-userModeuserMode:userMuserModuserMode:e:oduseruserMode:ModeuseuserMode:rMode::serususerMode:erMode:ModuserMode:e:userModeuserMode:::de:		userMuserMode:ususerMode:erMode:ode:			rt->x_userMode:duserMode:euserMode:suseuseuserMoususeruseuserMode:rMode:Mode:eruseuserMode:rMode:userMode:Mode:deuuserMuserMode:ode:seuserModuserModuserMode:e:userMode:e:rMuuserMode:serMode:ode::rMuserMode:oduuserMode:serModuuseuserMode:rMode:serMouserMode:de:e:e:ruseuseruserMode:Mode:rMouserMode:de:ModeuserModuserMode:euserMuuserMode:seuserMode:ruserMode:Mode:oduseuserMode:rMode:e::userMode::useuserMode:rMode:userMode:[1userMode:useuserMode:rMuserMode:ode:uuseuserMode:rModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2ususerMode:erMode:])userMode:;useuserModeuserMode::rMode:duserMode:e:e:		userMuseuserMode:ruserMode:ModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:seuserMode:rMode:], rt->userModuuserMode:suserMode:erMoususerMouserMode:de:erMode:de:serMouuserMode:seuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMouserMode:de:uuserModeuserMode::serMode:ouseuserMode:rMode:de:userMode:de:userMode:userModuserMode:userMode:euserMode::useruserMouseuserMode:rMode:de:useuserMode:rMode:uuseuserMode:rususerMode:erMuuserMode:serMode:ode:ModuserMode:e:serMode:Mode:ususerModuserModuserMode:e:euserMode::erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserModuseuseruserMode:Mode:rMode:e:sususerMode:euserModuserMode:e:userMode:e:oususerMode:erModeuserMode:userMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:userMuserMode:ode:oduserMode:e:seruserModeuserModususerModuserMode:e:erMode:e::userModeususerMode:eruserMode:Mode::Mode:de:.cuseruserMode:useruserMode:MouserMode:de:MouseruserMuserMode:ode:uuserMode:suserMode:erMode:MoususerMode:erMode:de:uuserMode:seruserMode:Mode:userModeuserMouserMode:de::de:userMode:pp:userMouuserMode:serModuuserMode:serMode:e:de:	ususerMode:erMode:		userMoususerMode:erMode:de:			ususerMode:erModuserMode:euserMode::rt-userModeuserMode:userMode::>userMouserMode:userMode:de:xuseruserModeuserMode::Mode:ee[1userMouserModeuserMode::deuseruseuserMouserMode:duserMode:e:rMode:MoususerMode:erModuseruserMode:Mode:euserMouserMode:duserMode:e::de::userMode:], 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userMouserMode:de:useruseruserMode:ModuserMode:e:Mode:57ususerMuuseruserMode:Mode:serMode:ouserMode:de:eususerMode:erModuserModeuserMode::userMode:e:ruuserMode:serMouserMode:de:Mode:.useruuserMode:serMode:MouserMode:deuserMode::3*userMode:rt-uuuseuserMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususerMode:eruseruserMode:Mode:MuserMode:ode:ModeuseuserMode:rususerMode:userMode:erMode:useruseruserMode:Mode:userMode:MouserModuserMode:e:de:userMode:MuserModuseruserMode:Mode:e:userMode:ode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:Mode:57.3*userMode:rt->userMode:quseruserMode:Mode:[uususerMode:erMode:useuserMode:rMuserMode:oususerMode:eruseuseuserMode:rMode:rMode:Mode:de:userModuserMode:euseruseuserMode:rMode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouserMode:deuserModeuserMode:::deuserMode::ode:erMuuuserMode:serMouserMode:de:serMouserModeuserMode:userMode::de:ouserMode:deuserMode::3],uuserMode:serMouserMode:userMode:de: 57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erMode::q[4uuserMode:suserMode:eruserMode:Mode:]useuserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:ode:Mode:serMouserMode:de:erMouserMode:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuserMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMususerModuserModuserMode:e:e:erMouseuserMode:rMode:de:ode:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:serMode:e:userMode:userMuserModuserMode:e:ouseruserMode:Mode:ususeruserModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMouserMode:de:erModuserModeuuserMode:serMouserMode:de::e:userMode:useruserMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duserModuserMode:e:e:Mode:[ususerMode:erMode:usuuserMode:serMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruseruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuuserModeuserMode::serMode:ruseruserMode:Mode:usuuserMode:serMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:userModeuserMode::_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMusuuserMode:suserMode:erMode:euserMode:rModuserMode:e:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMuserMode:ode:->uuserModeuseruserMode:ModuserMode:e::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuserMode:ususerModuserMode:e:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMouserMode:de:serModuserMode:e:useuserMode:userMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserModeuserMode:::seruserMode:Mode::MuserMode:oduserMode:userModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserModeuserMode::userModuserMode:e::MuseuserMuseuserMode:rMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuserMode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serMode:serModeuserMuserMode:oduserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userModeuserMode::],uuseruserMuserMode:ode:MuserMuserMode:ode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMuserMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserModeuserMode::serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserMode::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserMode:serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userModuserMode:e:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuseruserMode:Mode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuseruserMode:Mode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:userususerMode:erMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rModeuserMode::serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususeuserMode:ruserMode:usuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:useruserMode:Mode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:userMode:euserMode::uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:userMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:MuserMode:ode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserModuserMode:e:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userModuserMode:e:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMuserMode:ode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouseuserMode:rMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuserMode:seuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:serModuuserMode:serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserMode:Mode:de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:uuserMode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserMode:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->useuserMode:rMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:userMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuususerMode:erMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserModuserMode:e:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruserMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuseuserMode:rususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rMouserMode:deuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseuserMode:ruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususeuserMode:rMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseuserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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userMouseruseruserMode:Mode:Mode:de:= 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rt-userModuserMode:e:useuserMode:ruuserModeuseruserMode:Mode::seuserMode:rMode:ModeuseruserMode:ModeususeruseruserModeuserMode::Mode:Mode:eruseruserususerMode:erMode:de:useuserMode:ruserMode:Mode:MuserMode:ode:useuserMode:rModuserMode:e:ruseuseruserMode:Mode:rMode:tuseruserMouseruserMode:Mode:de:Mode:->useruserMode:Mode:a0[iuuserModuserMode:e:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuuseruserMode:Mode:serModuseruseruserMode:Mode:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuuserMode:seuseruserMode:Mode:ruserMuserMode:oduseruseruserMode:Mode:Mode:userMode:euseruserMode:Mode:useusususerMode:erMode:erMuseruserMode:Mode:ode:rMode:useruserMode:ModuserMode:e::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruseuserMode:rMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMuserMode:ususeruserMode:Mode:erModeuserMode::ouseruserMode:ModeuserMode::deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruseruserMode:Mode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMuserMode:ouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuseruserMode:ModuserModuseruserMode:Mode:e:e:serMouuseruserMode:ModuserMode:e:serMouserMode:dususeruserMode:Mode:erMode:e:duseruseuserMode:rMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:userModeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:Mode:::useruseruserModuseruseruserMode:Mode:Mode:euserMode:useruserMode:Mode::ModususerMode:euserMode:ruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- userMode:rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserMode:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuuserMode:serModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseuserMode:ruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:MouserMode:de:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuseruserMode:Mode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:MuserMode:odeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruseuserMode:rMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseuserMode:ruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserModeuserMode::rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouseruserMode:MuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruseuserMode:rMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::userMode:[0]userModeuseruseruserMode:Mode:Mode::);
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uususerModuserMode:e:erModeuseruserMode:Mode::serMouserMode:de:useruseruserModeuserMode::Mode:ModuserMususerMode:eruseruserMode:userModeuserModeuseruserMode:Mode:::MuserMode:odeuserMode::Mode:ode:useruserModuserModuserMode:euserMouserMode:de::e:MouserModuserModuseruserMode:Mode:euserMode::e:duseuserusuuserMode:serModuserMode:e:uuserMode:er_org.useuserModuserMode:e:userMode:ruuseruserMode:Mode:serMode:MouserMode:duserMode:e:cuuserMode:seruuseuserMode:rMode:seuserMode:rMode:Mode:userMode:ppususeruserMode:Mode:erMode::			// rt->uuserMode:serModeuseuseruserMode:Mode:rMode::tiuserMode:me userMouserMode:dususeruseruserMode:Mode:Mode:erMode:euseuserMode:rMouserMode:de::userMode:iuserMode:userMuserMode:ode:s userMode:userModeuserMouserMode:duseruserMode:Mode:e::timuuserMode:useruseuserMode:rMode:Mode:seruserMode:Mode:e 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userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:userMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserModeuserMode::rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:euseuuserMode:serMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMode:e:rMouserususerMode:erMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serModeuserMode::Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruseuserMode:rMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:userMode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuuserMode:serMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userModuserMuserMode:ode:e:erModeuserMode::puuserMuserMode:odeuserMode::suserMode:userMode:erMuserMode:ousususerMode:eruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:userMode:MuserMode:userMode:ode:t-userMuserMode:ouserMode:duserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::dususerMode:erMode:e:[1ususeuseuserMode:rMouserMode:de:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:euserMode:::], rt->x[ususerMuserMode:odususerMode:euserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deusuuserMode:serMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuserMode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: 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57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMouuserMode:suserMode:erMode:de:.3*ususerususerMode:euserMode:rMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMouserMode:de:userMode:userMouuseuserMode:rMode:serModeuserModeuseruseuserMode:rMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[useuserMode:rMode:ususerMouserModuuserMode:serMode:e:de:euuserMode:serMode:rMuserMuseruseuserMode:rMode:Mode:uuserMode:suserMode:erususerMode:erModuserMode:e:de:ouserMode:userModuserMode:e:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruseuserMode:rMode:Mode:ruserMode:userMode:MuserMode:uuserModeuseruserMode:userMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruseuserMode:rMode:Mode:eruserMode:Mode:userMode::deuserMuserMode:ode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruseuseruserMode:Mode:rMode:Mode:Mode:euserMode:rMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	userMode:57userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruseruserMode:MuserMode:ode:ModeuseruserMode:Mode::MuseuserMode:rMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuseuserMode:rMode:seruserMode:MuseuserMode:rMode:odeuserMode::[3]useuseuserMode:rMode:rMode:,userMode: 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ususerMode:erModeuserMuserMode:ode:userModususerMouseuserMode:rMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:MouseruserMode:Mode:de:ModuserMode:eususerMode:erMode::userMode:oduserMode:e:e::57.3*rt->jguseuseuserMode:rMode:rModuserModeuserMode::e:ouseruseruseususerMode:userMuserMode:odeuseruserModeuserMode::Mode::erMouserMode:de:rMuserMuserModeususerMode:erMode::ode:oduuseruseuserMode:rMode:Mode:seruserModeuuseuserMode:rMode:serMode:userMode::Mode:euserMususeuserMode:rModuseuserMode:ruserMode:Mode:euserMode:						userMode:57.3*rtuserMode:->uuseuserMode:rMode:seuserMode:rModeuserMode::userModeuserModeuserMode:::uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMuserMode:ode:serModususeruseususerMode:euserMode:rMode:rMode:rMode:useuserMode:rMode:useruserMode:Mode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:uuserMode:serMouseruserModuseuserMode:rMouserMode:de:e:Mode:duserModuserMode:euserMode::euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 5userMode:7.3uuuserMode:seruseuserMode:rMode:Mode:suseruserMode:MususeuserMode:rMode:erMode:ode:eruserModuserMuserMode:useruseruserMode:Mode:Mode:ode:e:userMode:Mode:*ruserMode:t-userModeuserMode:userMuserModuserMode:e:oduseruserMode:ModeuseuserMode:rMode::serususerMode:erMode:ModuserMode:e:userModeuserMode:::de:		userMuserMode:ususerMode:erMode:ode:			rt->x_userMode:duserMode:euserMode:suseuseuserMoususeruseuserMode:rMode:Mode:eruseuserMode:rMode:userMode:Mode:deuuserMuserMode:ode:seuserModuserModuserMode:e:userMode:e:rMuuserMode:serMode:ode::rMuserMode:oduuserMode:serModuuseuserMode:rMode:serMouserMode:de:e:e:ruseuseruserMode:Mode:rMouserMode:de:ModeuserModuserMode:euserMuuserMode:seuserMode:ruserMode:Mode:oduseuserMode:rMode:e::userMode::useuserMode:rMode:userMode:[1userMode:useuserMode:rMuserMode:ode:uuseuserMode:rModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2ususerMode:erMode:])userMode:;useuserModeuserMode::rMode:duserMode:e:e:		userMuseuserMode:ruserMode:ModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:seuserMode:rMode:], rt->userModuuserMode:suserMode:erMoususerMouserMode:de:erMode:de:serMouuserMode:seuuserMode:serMode:rususeuserModuserMode:e:rMode:erMode:MuseuserMode:rMouserMode:de:uuserModeuserMode::serMode:ouseuserMode:rMode:de:userMode:de:userMode:userModuserMode:userMode:euserMode::useruserMouserMode:useuserMode:rMode:de:useuserMode:rMode:uuseuserMode:rususerMode:erMuuserMode:serMode:ode:ModuserMode:e:serMode:Mode:ususerModuserModuserMode:e:euserMode::erMode:rt-useuserMode:rMode:>userMode:xuserMode:ee[0userMode:uuserModuseuseruserMode:Mode:rMode:e:sususerMode:euserModuserMode:e:userMode:e:oususerMode:erModeuserMode:userMode::de:de:useruserMode:userMode:orguuserMode:serMouuuserMode:serMuserMode:userMuserMode:ode:oduserMode:e:seruserModeuserModususerModuserMode:e:erMode:e::userModeususerMode:eruserMode:Mode::Mode:de:.cuseruserMode:useruserMode:MouserMode:de:MouseruserMuserMode:ode:uuserMode:suserMode:erMode:MoususerMode:erMode:de:uuserMode:seruserMode:Mode:userModeuserMouserMode:de::de:userMode:pp:userMouuserMode:serModuuserMode:serMode:e:de:	ususerMode:erMode:		userMoususerMode:erMode:de:			ususerMode:erModuserMode:euserMode::rt-userModeuserMode:userMode::>userMouserMode:userMode:de:xuseruserModeuserMode::Mode:ee[1userMouserModeuserMode::deuseruseuserMouserMode:duserMode:e:rMode:MoususerMode:erModuseruserMode:Mode:euserMouserMode:duserMode:e::de::userMode:], 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userMouserMode:de:useruseruserMode:ModuserMode:e:Mode:57ususerMuuseruserMode:Mode:serMode:ouserMode:de:eususerMode:erModuserModeuserMode::userMode:e:ruuserMode:serMouserMode:de:Mode:.useruuserMode:serMode:MouserMode:deuserMode::3*userMode:rt-uuuseuserMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususerMode:eruseruserMode:Mode:MuserMode:ode:ModeuseuserMode:rususerMode:userMode:erMode:useruseruserMode:Mode:userMode:MouserModuserMode:e:de:userMode:MuserModuseruserMode:Mode:e:userMode:ode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:Mode:57.3*userMode:rt->userMode:quseruserMode:Mode:[uususerMode:erMode:useuserMode:rMuserMode:oususerMode:eruseuseuserMode:rMode:rMode:Mode:de:userModuserMode:euseruseuserMode:rMode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouserMode:deuserModeuserMode:::deuserMode::ode:erMuuuserMode:serMouserMode:de:serMouserModeuserMode:userMode::de:ouserMode:deuserMode::3],uuserMode:serMouserMode:userMode:de: 57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erMode::q[4uuserMode:suserMode:eruserMode:Mode:]useuserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:oduserMode:e:Mode:serMouserMode:de:erMouserMode:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuserMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMususerModuserModuserMode:e:e:erMouseuserMode:rMode:de:ode:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:serMode:e:userMode:userMuserModuserMode:e:ouseruserMode:Mode:ususeruserModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMouserMode:de:erModuserModeuuserMode:serMouserMode:de::e:userMode:useruserMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duserModuserMode:e:e:Mode:[ususerMode:erMode:usuuserMode:serMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruseruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuuserModeuserMode::serMode:ruseruserMode:Mode:usuuserMode:serMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:userModeuserMode::_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMusuuserMode:suserMode:erMode:euserMode:rModuserMode:e:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMuserMode:ode:->uuserModeuseruserMode:ModuserMode:e::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuseruserMode:Mode:ususerModuserMode:e:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMouserMode:de:serModuserMode:e:useuserMode:userMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserModeuserMode:::seruserMode:Mode::MuserMode:oduserMode:userModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserModeuserMode::userModuserMode:e::MuseuserMuseuserMode:rMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuserMode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serMode:serModeuserMuserMode:oduserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:				userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userModeuserMode::],uuseruserMuserMode:ode:MuserMuserMode:ode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMususerMode:erMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserModeuserMode::serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserMode::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserMode:serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userModuserMode:e:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuseruserMode:Mode:userMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuseruserMode:Mode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:userususerModeuserMode::erMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rModeuserMode::serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususeuserMode:ruserMode:usuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:useruserMode:Mode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:userMode:euserMode::uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:userMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:MuserMode:ode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserModuserMode:e:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userModuserMode:e:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMuserMode:ode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouseuserMode:rMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuserMode:seuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserMode:serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserMode:Mode:de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:uuserMode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->useuserMode:rMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:userMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuususerMode:erMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruserMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserModuserMode:e:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruseuserMode:rMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuseuserMode:rususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rMouserMode:deuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseuserMode:ruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususeuserMode:rMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseuserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouseruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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userMouseruseruserMode:Mode:Mode:de:= 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userMode:rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rModeuserMode:usuuseruserMode:Mode:serMode:eruseruserModuserMode:e:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuuserMode:serModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseuserMode:ruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:MouserMode:de:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuseruserMode:Mode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:MuserMode:odeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruseuserMode:rMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseuserMode:ruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserModeuserMode::rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouseruserMode:MuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruseuserMode:rMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::userMode:[0]userModeuseruseruserMode:Mode:Mode::);
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uuserMode:seuseruserModeuserMode::uuserMode:serMode:Mode:userModeuserMode::rMuseruseruserMode:Mode:Mode:ouserMode:duserMode:e:rtuserMouserMode:de:-userModeuserMode::>userMode:uususerModeuserMode::euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:userMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::MouserMode:deuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuseruserMode:Mode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:useuserMode:rModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:MouserMode:de::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userModuserMode:e:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userModeuserMode::		userMuseuserMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::MouserMode:duserMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuseuserMode:rususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:ode:rMouserMode:de:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserModuserMode:e:ususerMode:eruserMode:MuserMode:ouserMouserMode:de:de::rt->muserMode:uuuserMode:serMode:useruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuseuserMode:rMode:::rMode:ePauserMode:ramuseuserMode:rModeuserMode::eters(rt->a0useruserMode:MoususeuserModeuserMode::rModeuserMode::euserMode:rMode:deuserMuuserModeuserMode::suserMode:erModeuserMode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserMode:duserMode:e:e::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euuserMode:serMode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:erMode:rModeuserMode::Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:useuseruserMode:ModuserMode:e:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serMuserMode:oduseruseuuseuserMode:rMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuuserMode:serMuserMode:ode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserModuseruserMode:Mode:e:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, 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userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:userMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserModeuserMode::rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:euseuuserMode:serMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMode:e:rMouserususerMode:erMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serModeuserMode::Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruseuserMode:rMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:userMode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModeuserMode::MoususerMode:eruserMode:ModuseuserModeuuserMode:serMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userMode:userModuserMuserMode:ode:e:erModeuserMode::puuserMuserMode:odeuserMode::suserMode:userMode:erMuserMode:ousususerMode:eruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:userMode:MuserMode:userMode:ode:t-userMuserMode:ouserMode:duserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::dususerMode:erMode:e:[1ususeuseuserMode:rMouserMode:de:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:euserMode:::], rt->x[ususerMuserMode:odususerMode:euserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deusuuserMode:serMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuserMode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: 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ususerMode:erModeuserMuserMode:ode:userModususerMouseuserMode:rMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:MouseruserMode:Mode:de:ModuserMode:eususerMode:erMode::userMode:oduserModuserMode:e:e:e::57.3*rt->jguseuseuserMode:rMode:rModuserModeuserMode::e:ouseruseruseususerMode:userMuserMode:odeuseruserModeuserMode::Mode::erMouserMode:de:rMuserMuserModeususerMode:erMode::ode:oduuseruseuserMode:rMode:Mode:seruserModeuuseuserMode:rMode:serMode:userMode::Mode:euserMususeuserMode:rModuseuserMode:ruserMode:Mode:euserMode:						userMode:57.3*rtuserMode:->uuseuserMode:rMode:seuserMode:rModeuserMode::userModeuserModeuserMode:::uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMuserMode:ode:serModususeruseususerMode:euserMode:rMode:rMode:rMode:useuserMode:rMode:useruserMode:Mode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:uuserMode:serMouseruserModuseuserMode:rMouserMode:de:e:Mode:duserModuserMode:euserMode::euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 5userMode:7.3uuuserMode:seruseuserMode:rMode:Mode:suseruserMode:MususeuserMode:rMode:erMode:ode:eruserModuserMuserMode:useruseruserMode:Mode:Mode:ode:e:userMode:Mode:*ruserMode:t-userModeuserMode:userMuserModuserMode:e:oduseruserMode:ModeuseuserMode:rMode::serususerMode:erMode:ModuserMode:e:userModeuserMode:::de:		userMuserMode:ususerMode:erMode:ode:			rt->x_userMode:duserMode:euserMode:suseuseuserMoususeruseuserMode:rMode:Mode:eruseuserMode:rMode:userMode:Mode:deuuserMuserMode:ode:seuserModuserModuserMode:e:userMode:e:rMuuserMode:serMode:ode::rMuserMode:oduuserMode:serModuuseuserMode:rMode:serMouserMode:de:e:e:ruseuseruserMode:Mode:rMouserMode:de:ModeuserModuserMode:euserMuuserMode:seuserMode:ruserMode:Mode:oduseuserMode:rMode:e::userMode::useuserMode:rMode:userMode:[1userMode:useuserMode:rMuserMode:ode:uuseuserMode:rModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2ususerMode:erMode:])userMode:;useuserModeuserMode::rMode:duserMode:e:e:		userMuseuserMode:ruserMode:ModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:seuserMode:rMode:], 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userMouserMode:de:useruseruserMode:ModuserMode:e:Mode:57ususerMuuseruserMode:Mode:serMode:ouserMode:de:eususerMode:erModuserModeuserMode::userMode:e:ruuserMode:serMouserMode:de:Mode:.useruuserMode:serMode:MouserMode:deuserMode::3*userMode:rt-uuuseuserMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususerMode:eruseruserMode:Mode:MuserMode:ode:ModeuseuserMode:rususerMode:userMode:erMode:useruseruserMode:Mode:userMode:MouserModuserMode:e:de:userMode:MuserModuseruserMode:Mode:e:userMode:ode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:Mode:57.3*userMode:rt->userMode:quseruserMode:Mode:[uususerMode:erMode:useuserMode:rMuserMode:oususerMode:eruseuseuserMode:rMode:rMode:Mode:de:userModuserMode:euseruseuserMode:rMode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouserMode:deuserModeuserMode:::deuserMode::ode:erMuuuserMode:serMouserMode:de:serMouserModeuserMode:userMode::de:ouserMode:deuserMode::3],uuserMode:serMouserMode:userMode:de: 57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erModeuserMode:::q[4uuserMode:suserMode:eruserMode:Mode:]useuserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:oduserMode:e:Mode:serMouserMode:de:erMouserMode:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuserMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMususerModuserModuserMode:e:e:erMouseuserMode:rMode:de:ode:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:serMode:e:userMode:userMuserModuserMode:e:ouseruserMode:Mode:ususeruserModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMouserMode:de:erModuserModeuuserMode:serMouserMode:de::e:userMode:useruserMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duserModuserMode:e:e:Mode:[ususerMode:erMode:usuuserMode:serMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruseruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuuserModeuserMode::serMode:ruseruserMode:Mode:usuuserMode:serMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:userModeuserMode::_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMusuuserMode:suserMode:erMode:euserMode:rModuserMode:e:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMuserMode:ode:->uuserModeuseruserModuserMode:e:ModuserMode:e::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuseruserMode:Mode:ususerModuserMode:e:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMouserMode:de:serModuserMode:e:useuserMode:userMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserModeuserMode:::seruserMode:Mode::MuserMode:oduserMode:userModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserModeuserMode::userModuserMode:e::MuseuserMuseuserMode:rMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuserMode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerMode:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serMode:serModeuserMuserMode:oduserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:		userMode:		userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userModeuserMode::],uuseruserMuserMode:ode:MuserMuserMode:ode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMususerMode:erMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserModeuserMode::serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserMode::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserMode:serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt->userMode:uuseruserMode:Mode:serMode:duserMuserMode:ode:uususerMode:eruserMuserModuserMode:e:odeuserMode::Mode:serModeuserMouserMode:userModuserMode:e:de::userMouserMode:de:uuserMode:serMouuserMode:serMode:de:userMode:uuuserMode:userModuserMode:e:seuseruserMode:Mode:useuserMode:rMode:rMode:userMode:seruserMode:useususerMode:erMode:rMode:MouseuserMuserMode:ode:rMouserMode:de:userMouserMuserMode:ode:de:de:userMode:userModeuseruserMode:Mode::userMode:userMuserMode:ouserMode:duserMode:e:ususerMuserMode:odeuserMode::erModuseruserMode:userususerModeuserMode::erMode:Mode:Mode:e:useruserMode:userMode:Mode:uuserModeuserMode::userMode:serMode:ususerMode:erMuserMode:userModuserMode:e:ode:useuuseuuserMode:serMode:rModeuserMode::serMode:rMode:userMode:userMouseuserMode:rMouseuserMode:rMode:deuserMode::duserMode:e:userMode:usususeuserMode:ruserMode:usuuserMode:serMode:erMode:Mode:userMode:eruserMode:userModuserMouserModeuserMode::de:e:ModuserMode:e:useruserModeuserMode::Mode:euserMode:userMuserMode:useruserMode:Mode:ode:rModuseuuserMode:serMode:rMode:e:userModuserMode:e:userususerMode:erMode:userMode:ModuserMode:userMode:euserMode::uuseruserMode:userMouserMode:deuserMode::Mode:serMuserMouserModuuserMode:seuserModuserModeuserMode::e:ruserMode:Mode:e:de:ouseuserMuserMode:ode:rMouserMode:userMode:de:duserMode:euserMode:userMode::userMode:userMode:userMode:useuserMode:rMode:ususeruserMode:MuserMode:ode:erMuseuserMode:rMode:oduserMode:e:uususerMode:erMouserususerMode:erMode:ModuserMode:e:de:serMouserMode:de:useruserMouserModeuserMode::de:ModeususerMode:erMuserMode:ouserModuserMode:e:de:useruserMode:Mode::userModeuserMode::userMode:userMuuserMode:serModuserMode:e:ode:userModuserMode:e:userMoususerMode:erMode:deuserMode::MuserMouserMode:de:ode: ruserMouserMode:de:t-ususerMode:userMode:erMode:>tauuuserMode:serMode:[useruuserModeuserMode::serMode:ususerMuserMuserMode:ode:ode:useuserMode:rModeususerMode:euserMode:rModuserMode:e::erMode:userMode:userModuserMouseuserMode:rMode:de:euserMode::Mode:1userMode:userMode:]uuserMode:serMode:userMode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rMode:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserMode:serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserMode:Mode:de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:uuserMode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ode:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->useuserMode:rMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:userMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuususerMode:erMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruseuserMode:rMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserModuserMode:e:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruseuserMode:rMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuseuserMode:rususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rMouserMode:deuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseuserMode:ruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususeuserMode:rMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseuserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserMode::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MoususerMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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userMouseruseruserMode:Mode:Mode:de:= 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rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:useruseruseuseruserMode:Mode:rMode:ModeuseruserMode:Mode:::rt->q[i])useuseuseruserMode:Mode:rModeuserMuseruserMode:Mode:oduserMode:e::rMuserMode:uuseruserMode:Mode:serModuseruseruserMode:ModuserMode:e:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuuserMode:seuseruserMode:Mode:ruserMuserMode:oduseruseruserMode:Mode:Mode:userMode:euseruserMode:Mode:useusususerMode:erMode:erMuseruserMode:Mode:ode:rMode:useruserMode:ModuserMode:e::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruseuserMode:rMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMuserMode:ususeruserMode:Mode:erModeuserMode::ouseruserMode:ModeuserMode::deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruseruserMode:Mode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMuserMode:ouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuseruserMode:ModuserModuseruserMode:Mode:e:e:serMouuseruserMode:ModuserMode:e:serMouserMode:dususeruserMode:Mode:erMode:e:duseruseuserMode:rMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:userModeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:Mode:::useruseruserModuseruseruserMode:Mode:Mode:euserMode:useruserMode:Mode::ModususerMode:euserMode:ruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- userMode:rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserMode:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rMuserMode:odeuserMode:usuuseruserMode:Mode:serMode:eruseruserModuserMode:e:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuuserMode:serModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseuserMode:ruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:MouserMode:de:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuseruserMode:Mode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:MuserMode:odeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruseuserMode:rMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseuserMode:ruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserModeuserMode::rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouseruserMode:MuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruseuserMode:rMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::userMode:[0]userModeuseruseruserMode:Mode:Mode::);
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userMode:rt->userModeuserModuserMode:e::uuserMode:serMode:timuserModeuseuserMode:rMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMuseruserMode:Mode:ouuserMouserMode:de:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMuserMode:ode:userMode:ruserMode:t->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMouseruserMode:Mode:de:ode:deuserMuserMode:ode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userModuseruserMode:Mode:e:erModeuseruserMode:MouserMode:de::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rtuseruserMode:Mode:->xuuserModuserMode:e:serMode:ususerMode:erMode:[1]ususerMode:eruserMode:ModususerMode:userMode:eususeruserMode:Mode:erMode:rMode:e:, userMode:rususerMode:erMuserMode:ode:iususerMode:euserMouserMode:de:ruseuserModuseuseruserMode:Mode:rMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduseuserMode:rMode:,0) == uususerModuserMode:e:erModeuseruserMode:Mode::serMouserMode:de:useruseruserModeuserMode::Mode:ModuserMususerMode:eruseruserMode:userModeuserModeuseruserMode:Mode:::MuserMode:odeuserMode::Mode:ode:useruserModuserModuserMode:euserMouserMode:de::e:MouserModuserModuseruserMode:Mode:euserMode::e:duseuserusuuserMode:serModuserMode:e:uuserMode:er_org.useuserModuserMode:e:userMode:ruuseruserMode:Mode:serMode:MouserMode:duserMode:e:cuuserMode:seruuseuserMode:rMode:seuserMode:rMode:Mode:userMode:ppususeruserMode:Mode:erMode::			// rt->uuserMode:serModeuseuseruserMode:Mode:rMode::tiuserMode:me userMouserMode:dususeruseruserMode:Mode:Mode:erMode:euseuserMode:rMouserMode:de::userMode:iuserMode:userMuserMode:ode:s userMode:userModeuserMouserMode:duseruserMode:Mode:e::timuuserMode:useruseuserMode:rMode:Mode:seruserMode:Mode:e 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userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:userMode:rMode:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserModeuserMode::rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:euseuuserMode:serMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMode:e:rMouserususerMode:erMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserMode:ruserMode:Mode:serModeuserMode::Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:e:userModeuserMode::useususeruseuserMode:rMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:rMode:rMode:oruserMode:guserMuserMode:ode:userMode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModuserMode:euserMode::MoususerMode:eruserMode:ModuseuserModeuuserMode:serMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userMode:userModuserMuserMode:ode:e:erModeuserMode::puuserMuserMode:odeuserMode::suserMode:userMode:erMuserMode:ousususerMode:eruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:userMode:MuserMode:userMode:ode:t-userMuserMode:ouserMode:duserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::dususerMode:erMode:e:[1ususeuseuserMode:rMouserMode:de:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:euserMode:::], rt->x[ususerMuserMode:odususerMode:euserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deusuuserMode:serMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuserMode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: rt-userMode:uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:useruserMode:Mode:			usuuserModuserMode:e:suserMode:userMode:erMuserModuserMode:e:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserModuserMode:e:ModuserMode:e:de:erMuuserMode:serMode:ode:57.3*userMode:rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:MouserMode:deususeuseruseuserMode:rMode:Mode:rMode:userMode:erMode::l[0], 57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMouuserMode:suserMode:erMode:de:.3*ususerususerMode:euserMode:rMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMouserMode:de:userMode:userMouuseuserMode:rMode:serModeuserModeuseruseuserMode:rMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[useuserMode:rMode:ususerMouserModuuserMode:serMode:e:de:euuserMode:serMode:rMuserMuseruseuserMode:rMode:Mode:uuserMode:suserMode:erususerMode:erModuserMode:e:de:ouserMode:userModuserMode:e:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruseuserMode:rMode:Mode:ruserMode:userMode:MuserMode:uuserModeuseruserMode:userMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruseuserMode:rMode:Mode:eruserMode:Mode:userMode::deuserMuserMode:ode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruseuseruserMode:Mode:rMode:Mode:Mode:euserMode:rMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	userMode:57userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruseruserMode:MuserMode:ode:ModeuseruserMode:Mode::MuseuserMode:rMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuseuserMode:rMode:seruserMode:MuseuserMode:rMode:odeuserMode::[3]useuseuserMode:rMode:rMode:,userMode: ususeruserMode:Mode:eruserMode:MousuuserMuserMode:oduuserMode:serMode:e:seruserMode:MouserMode:de:ouserMode:duserMode:euserModeuseuserMode:rMode:::userMode:userMode:,useruseuseruserMode:Mode:rMode:ModeususeuserMode:rModuserMode:e:erMode:: ususerMode:erModeuserMuserMode:ode:userModususerMouseuseuserMode:rMode:rMode:de:euserMode:rMususeuserMode:rMode:eruseruserMode:MouseruserMode:Mode:de:ModuserMode:eususerMode:erMode::userMode:oduserModuserMode:e:e:e::57.3*rt->jguseuseuserMode:rMode:rModuserModeuserMode::e:ouseruseruseususerMode:userMuserMode:odeuseruserModeuserMode::Mode::erMouserMode:de:rMuserMuserModeususerMode:erMode::ode:oduuseruseuserMode:rMode:Mode:seruserModeuuseuserMode:rMode:serMode:userMode::Mode:euserMususeuserMode:rModuseuserMode:ruserMode:Mode:euserMode:						userMode:57.3*rtuserMode:->uuseuserMode:rMode:seuserMode:rModeuserMode::userModeuserModeuserMode:::uuserModeuserMode::serMode:useuuuserMode:serModuseruserMode:Mode:e:userMuserMode:ode:serModususeruseususerMode:euserMode:rMode:rMode:rMode:useuserMode:rMode:useruserMode:Mode:	57.3*rt->jgoal[useruserModeuserMode::Mode:userMode:useruserMode:ModuserMode:e:uuserMode:serMouseruserModuseuserMode:rMouserMode:de:e:Mode:duserModuserMode:euserMode::euseruseruseruserMode:Mode:Mode:userMode:Mode::3], 5userMode:7.3uuuserMode:seruseuserMode:rMode:Mode:suseruserMode:MususeuserMode:rMode:erMode:ode:eruserModuserMuserMode:useruseruserMode:Mode:Mode:ode:e:userMode:Mode:*ruserMode:t-userModeuserMode:userMuserModuserMode:e:oduseruserMode:ModeuseuserMode:rMode::serususerMode:erMode:ModuserMode:e:userModeuserMode:::de:		userMuserMode:ususerMode:erMode:ode:			rt->x_userMode:duserMode:euserMode:suseuseuserMoususeruseuserMode:rMode:Mode:eruseuserMode:rMode:userMode:Mode:deuuserMuserMode:ode:seuserModuserModuserMode:e:userMode:e:rMuuserMode:serMode:ode::rMuserMode:oduuserMode:serModuuseuserMode:rMode:serMouserMode:de:e:e:ruseuseruserMode:Mode:rMouserMode:de:ModeuserModuserMode:euserMuuserMode:seuserMode:ruserMode:Mode:oduseuserMode:rMode:e::userMode::useuserMode:rMode:userMode:[1userMode:useuserMode:rMuserMode:ode:uuseuserMode:rModeuserModeuserMode:::suserMode:erMouserMode:de:],rt->x_des[2ususerMode:erMode:])userMode:;useuserModeuserMode::rMode:duserMode:e:e:		userMuseuserMode:ruserMode:ModeuserMode::ouserMode:de:ruserMuserMode:ouserMode:de:t->x[1uuserMode:seuserMode:rMuserMode:ode:], 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userMouserMode:de:useruseruserMode:ModuserMode:e:Mode:57ususerMuuseruserMode:Mode:serMode:ouserMode:de:eususerMode:erModuserModeuserMode::userMode:e:ruuserMode:serMouserMode:de:Mode:.useruuserMode:serMode:MouserMode:deuserMode::3*userMode:rt-uuuseuserMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususerMode:eruseruserMode:Mode:MuserMode:ode:ModeuseuserMode:rususerMode:userMode:erMode:useruseruserMode:Mode:userMode:MouserModuserMode:e:de:userMode:MuserModuseruserMode:Mode:e:userMode:ode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:Mode:57.3*userMode:rt->userMode:quseruserMode:Mode:[uususerMode:erMode:useuserMode:rMuserMode:oususerMode:eruseuseuserMode:rMode:rMode:Mode:de:userModuserMode:euseruseuserMode:rMode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouuserMode:serMode:deuserModeuserMode:::deuserMode::ode:erMuuuserMode:serMouserMode:de:serMouserModeuserMode:userMode::de:ouserMode:deuserMode::3],uuserMode:serMouserMode:userMode:de: 57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erModeuserMode:::q[4uuserMode:suserMode:eruserMode:Mode:]useuserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:oduserMode:e:Mode:serMouserMode:de:erMouserMode:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuserMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMususerModuserModuserMode:e:e:erMouseuserMode:rMode:de:ode:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:serMode:e:userMode:userMuserModuserMode:e:ouseruserMode:Mode:ususeruserModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMouserMode:de:erModuserModeuuserMode:serMouserMode:de::e:userMode:useruserMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duserModuserMode:e:e:Mode:[ususerMode:erMode:usuuserMode:serMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruseruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuuserModeuserMode::serMode:ruseruserMode:Mode:usuuserMode:serMode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:userModeuserMode::_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMusuuserMode:suserMode:erMode:euserMode:rModuseruserMode:Mode:e:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMuserMode:ode:->uuserModeuseruserModuserMode:e:ModuserMode:e::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuseruserMode:Mode:ususerModuserMode:e:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMouserMode:de:serModuserMode:e:useuserMode:userMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserModeuserMode:::seruserMode:Mode::MuserMode:oduserMode:userModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserModeuserMode::userModuserMode:e::MuseuserMuseuserMode:rMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuserMode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouserMode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerModuserMode:e:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serMode:serModeuserMuserMode:oduserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:		userMode:		userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userModeuserMode::],uuseruserMuserMode:ode:MuserMuserMode:ode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMususerMode:erMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserModeuserMode::serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserMode::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserMode:serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerMode:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuserMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserMode:serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserMode:Mode:de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:uuserMode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuserMode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->useuserMode:rMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserModeuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:userMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:ModuserMode:e::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuususerMode:erMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruseuserMode:rMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserModuserMode:e:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruseuserMode:rMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuseuserMode:rususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rMouserMode:deuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseuserMode:ruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususeuserMode:rMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseuserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MoususerMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= 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rt->x[ususerMuserMode:odususerMode:euserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deusuuserMode:serMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuserMode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[userMuseruserMode:Mode:oduserMode:e:1],userMode: 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57usuuserMode:serMode:erModeususeuserMode:rMode:erModeuserMode:::userMouuserMode:suserMode:erMode:de:.3*ususerususerMode:euserMode:rMode:Mode:erModeuserMode::ruserMode:t-uuserModeuserususerMode:euserMode:rMode:userMouserMode:de:userMode:userMouuseuserMode:rMode:serModeuserModeuseruseuserMode:rMode:Mode:::de:Mode::serMuserMode:ode:>jgoaluserMuserMode:ode:[useuserMode:rMode:ususerMouserModuuserMode:serMode:e:de:euuserMode:serMode:rMuserMuseruseuserMode:rMode:Mode:uuserMode:suserMode:erususerMode:erModuserMode:e:de:ouserMode:userModuserMode:e:de:rt-userMode:>jgoal[2]userModuserMode:e:,uuserMode:seuseruseuserMode:rMode:Mode:ruserMode:userMode:MuserMode:uuserModeuseruserMode:userMode:Mode::suseruserMode:Mode:erMouseruserModeuserMode::userMode:MouserMode:deususeruseuserMode:rMode:Mode:eruserMode:Mode:userMode::deuserMuserMode:ode::odeuserMode::userMode:ususerMode:erMuserMode:ode:ususerMode:euseuserMode:rMode:rMoususeruseruseuseruserMode:Mode:rMode:Mode:Mode:euserMode:rMode:duserMode:e:uuseuserMode:rMode:erMode:eususerMode:erMode::deuserMode::uuserMode:suserMode:erMode:	userMode:57userMode:useuserModeuserMode::rMode:uuseruserMode:Mode:seruserMode:Mode:.3*rt-userMode:>juserMuserMode:ode:goaususeruseuserMode:ruseruserMode:MuserMode:ode:ModeuseruserMode:Mode::MuseuserMode:rMode:ouserMode:useruserMode:Mode:duserModuserMode:e:e:eruserModuserMode:e:Mode:luuseuserMode:rMode:seruserMode:MuseuserMode:rMode:odeuserMode::[3]useuseuserMode:rMode:rMode:,userMode: 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57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erModeuserMode:::q[4uuserMode:suserMode:eruserMode:Mode:]useuserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:oduserMode:e:Mode:serMouserMode:de:erMouserMode:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuserMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMususerModuserModuserMode:e:e:erMouseuserMode:rMode:de:ode:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MoususerMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:serMode:e:userMode:userMuserModuserMode:e:ouseruserMode:Mode:ususeruserModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserModeuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMouserMode:de:erModuserModeuuserMode:serMouserMode:de::e:userMode:useruserMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duserModuserMode:e:e:Mode:[ususerMode:erMode:usuuserMode:serMuserMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruseruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMode:rt->quseuuserModeuserMode::serMode:ruseruserMode:Mode:usuuserMode:serMuserMode:ode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserMode:Mode::Mode:userModeuserMode::_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userModuserMode:e:de:duserMusuuserMode:suserMode:erMode:euserMode:rModuseruserMode:Mode:e:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMode: useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserMode:Mode:erMode:userModeususerMode:eruserMode:Mode::*rtuserMuserMode:ode:->uuserModeuseruserModuserMode:e:ModuserMode:e::seuserMode:ruserMouserMode:de:MouserMode:de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:Mode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::eruseruserMode:Mode:Mode:ModuseruserMode:Mode:ususerModuserMode:e:erMouserMode:de:e:useuserMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuserMode:rMode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuserMode:userModuserMode:e:userMouserMode:de:serModuserMode:e:useuserMode:userMode:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserMode:Mode:euserMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erMode:ModeuuserMouserMode:deuserModeuserMode:::seruserMode:Mode::MuserMode:oduserMode:userModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMode:MouserMode:de:seuserMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMode:ouserModuuserMode:serMode:e:deuserModeuserMode::userModuserMode:e::MuseuserMuseuserMode:rMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMode:euserMode::es[3],userMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeuserMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuserMode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMode:ModuserMode:e:de:>q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouseruserMode:Mode:de:Mode::e:ususerMode:eruserMode:ModeuseruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruserMode:MususerMouserMode:de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerModuserMode:e:erMode:rMode:de:ouseruserMode:Mode:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serMode:serModeuserMuserMode:oduserMode:e::serModuserMode:euserMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:		userMode:		userMode:userMode:57.3*rtuserMode:->duserMode:q[userMode:0userMode:userModeuserMode::],uuseruserMuserMode:ode:MuserMuserMode:ode:ode:serMode: 57.userMode:uuseruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMususerMode:erMode:ode:serModuserModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserModeuserMode::serMode:,useruserMode:Mode:useruserMode:Mode: 5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserMode::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserMode:serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuserMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserMode:serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserMode:Mode:de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:uuserMode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuserMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModuserMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->useuserMode:rMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserMouserMode:deuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:userMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:ModuserMode:e::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuususerMode:erMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruseuserMode:rMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserModuserMode:e:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruseuserMode:rMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuseuserMode:rususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rMouserMode:deuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseuserMode:ruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususeuserMode:rMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:Mode:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseuserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MoususerMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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5userMode:7.3*userMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserMode:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserMode::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMode:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserMode:serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuserMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuserMode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:Mode:suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serMode:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruserususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserModeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserMode:euserMode::odeuserMode::ModeuserMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::useruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:Mode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuseruserMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserMode:serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserMode:Mode:de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:uuserMode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:userMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModususerMode:erMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->useuserMode:rMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserMouserMode:deuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:userMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:ModuserMode:e::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuususerMode:erMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruseuserMode:rMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserModuserMode:e:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruseuserMode:rMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuseuserMode:rususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rMouserMode:deuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseuserMode:ruserMode:Mode:ruseuserMode:ruuserMode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususeuserMode:rMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseuserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MoususerMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruserMode:Mode:ouseruseruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruserMode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:tfuseruseruseruserMode:Mode:Mode:Mode:[i]useruserMode:ModuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:e:=useruseruserMode:Mode:Mode:userMode:useuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:seuserMuserMode:ode:rMuseruseruserMode:Mode:Mode:ode:ModeuseruserMode:ModuseruseuseruserMode:Mode:rModeuserMode::MouserMode:deuserModeuseruserMode:Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:serMuseuserMode:ruserMode:Mode:ouserMode:de::f[1userMode:useuuserMode:seuseruseruserMode:Mode:Mode:ruserMode:MouseruserMode:Mode:de:rMode:]useruserMode:Mode:, rt-userModuserMode:e:useuserMode:ruuserModeuseruserMode:Mode::seuserMode:rMode:ModeuseruserMode:ModeususeruseruserModeuserMode::Mode:Mode:eruseruserususerMode:erMode:de:useuserMode:ruserMode:Mode:MuserMode:ode:useuserMode:rModuserMode:e:ruseuseruserMode:Mode:rMode:tuseruserMouseruserMode:Mode:de:Mode:->useruserMode:Mode:a0[iuuserModuserMode:e:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruserMode:Mode:erModuserMuseruserMode:Mode:ode:e:uuserMode:seruseruseuseruserMode:Mode:rMode:ModeuseruseuserMode:rMode:Mode:::rt->q[i])useuseuseruserMode:ModeuserMode::rModeuserMuseruserMode:Mode:oduserMode:e::rMuserMode:uuseruserMode:Mode:serModuseruseruserMode:ModuserMode:e:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuuserMode:seuseruserMode:Mode:ruserMuserMode:oduseruseruserMode:Mode:Mode:userMode:euseruserMode:Mode:useusususerMode:erMode:erMuseruserMode:Mode:ode:rMode:useruserMode:ModuserMode:e::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruseuserMode:rMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMuserMode:ususeruserMode:Mode:erModeuserMode::ouseruserMode:ModeuserMode::deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruseruserMode:Mode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMuserMode:ouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuseruserMode:ModuserModuseruserMode:Mode:e:e:serMouuseruserMode:ModuserMode:e:serMouserMode:dususeruserMode:Mode:erMode:e:duseruseuserMode:rMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:userModeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:Mode:::useruseruserModuseruseruserMode:Mode:Mode:euserMode:useruserMode:Mode::ModususerMode:euserMode:ruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- userMode:rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserMode::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserModuserMode:e:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::userMode:serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeuserMode:ruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rMuserMode:odeuserMode:usuuseruserMode:Mode:serMode:eruseruserModuserMode:e:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuuserMode:serModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseuserMode:ruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:MouserMode:de:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuseruserMode:Mode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:MuserMode:odeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruseuserMode:rMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseuserMode:ruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserModeuserMode::rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouseruserMode:MuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruseuserMode:rMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::userMode:[0]userModeuseruseruserMode:Mode:Mode::);
userMuseruuserModuseruserMode:Mode:e:serMode:Mode:ouserModuserMode:euseruserMode:Mode::de:useuserMode:ruseuuserMode:ususerMode:erMode:serususerMode:eruserModeuseruseuserMode:rMode:Mode::MouserMode:de:Mode:useuserMode:rMouserMode:de:rModeuserMode::Mode:uusususeruserModeuserMode::Mode:erMode::e:cpp:useuserModeuserMode::rMode:	rt-useuserModuserModeuseuserMode:ruserMode:Mode::e:rMouuserMode:suserMode:erModeuserMode::de:useuserModeuuserMode:serModuseruseuserMode:rMode:ModeuserMode::e::rMode:ususeuserMode:rMode:euserMode:ruseuserMode:rususerModeuseruseruserMode:Mode:Mode::erMouseruserMuserModuseruserMode:Mode:e:ouserMode:de:ModeuseuuserMode:suseruserMode:Mode:erMode:userMode:rModeuserMode:::userMode:dususeruserMuserMode:oduserModeuseruseuserMode:rMode:Mode::e:userMode:Mode:erModeuserMode::e:userMode:ModuseruuserMode:serMode:de:useruserModeuserMode::Mode:(1) && (rt->ususeuserModeuserMode::rMode:erEusuuserModeuserModeuseuserMode:ruserMode:Mode:::serMouserMode:duserMode:e:erMouserMouserMode:de:deuserMode::xit userMode:!=usususeruseuserMode:rMode:ModeuseuserMode:rMode::erModeuserModeuserMode:::euseruserMode:useruserMode:ModeuserMode::Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userModuseruseruserMode:Mode:Mode:e:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:userMuserMode:ode:euserMode:ususerMode:erMode:::uususerMode:erMuserMode:ode:seruseruseuserMode:rMode:Mode:ModuserMode:e:useuserMouserMouserMode:de:de:userMode:ruuserMouserMode:de:seuserMouseruserModeuserModeuserMode:::Mode:de:rMode:MouseuseuserModeuserMode::rMode:ruserMode:Mode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerModeuserMode::erModeuserMode::suseruserMode:Mode:useruuserMode:serModuseruserMode:ModeuserModeuserMode:::euserMode::userMode:ModuserMode:e:eruususerMode:erMode:seruserMuseruseruserModeuserMode::ModuserMode:e:Mode:ode:ModeuserMouserModuserMode:e:de::Mode:useuseruseususerModeuseruserMode:Mode::euseruserMode:Mode:Mode:MuserMouserMode:de:odeuserMode::userModuseuserMode:rModeuserMode::e:rt->ususerususerMode:euseruseuserMode:rMode:Mode:rModeuuserMode:serModuserModeuserMode::e::Mode:erEuuserMode:seuserModeuserMode::rModuseuserMode:rMouseruserModeuserModeuserMode:::Mode:de:e:n", uuserMode:seuseruserModeuserMode::uuserMode:serMode:Mode:userModeuserMode::rMuseruseruserMode:Mode:Mode:ouserMode:duserMode:e:rtuserMouserMode:de:-userModeuserMode::>userMode:uususerModeuserMode::euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:userMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::MouserMode:deuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuseruserMode:Mode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:useuserMode:rModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:MouserMode:de::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userModuserMode:e:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userModeuserMode::		userMuseuserMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::MouserMode:duseuserMode:rMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuseuseruserMode:Mode:rususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:oduserMode:e:rMouserMode:de:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserMouserMode:duserMode:e:ususerMode:eruserMode:MuserMode:ouserMouserMode:de:de::rt->muserMode:uuuserMode:serMode:useruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuseuserMode:rMode:::rMode:ePauserMode:ramuseuserMode:rModeuserMode::eters(rt->a0useruserMode:MoususeuserModeuserMode::rModeuserMode::euserMode:rMode:deuserMuuserModeuserMode::suserMode:erModeuserMode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserMode:duserMode:e:e::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euuserMode:serMode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:erMode:rModeuserMode::Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:useuseruserMode:ModuserMode:e:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serMuserMode:oduseruseuuseuserMode:rMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuuserMode:serMuserMode:ode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserModuseruserMode:Mode:e:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, userModeuserMode::rt->userMode:uuuserModeuserMode::serMouserMode:de:userModuserususerMode:euserModuserMode:e:rMode:Mode:uuserMode:serMode:e:userMode:suserMode:erModususeruseuserModuserModeuserMode::e:rMode:MouserMode:de:userMode:userMode:euserMode:rMuserModeuserMode::ode:e:usususerMode:euserMode:ruserMode:MuserModeuseuserMode:rMode::odeuserMode::erMuserModuserMuseususerMode:erMode:rMouserMode:de:ModuuserMode:serModuserMode:e:e:ususeruserMode:Mode:euserMouserMode:de:rMode:userModuseuserMode:rMode:e: = userMode:tiuserMode:userMode:muserMode:e uuserMode:seuserMode:rMode:- rtuserModuserMode:e:-useuserMode:rMode:>userMode:xtimeuuseruseuserMode:rMode:userMode:ModeuuserMode:ususerMouserMode:de:erMouseruseruserModuserMode:e:MouserMode:de:ModuserMode:e:de:serMode::serModuseususerMode:erModeuserMode::rMode:euserMode::useruseruserMode:Mode:MouserModeuserMode::de:;	uuserMode:serMode:// 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userModeuserMode::usuuserMode:userModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMuseruserMode:Mode:ouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:suserMode:erModuserMode:e:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserModuserMode:e:userMuserModuserMode:e:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rMouserMode:deuserMode:uususerMode:erModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserModeuserMode::e:Mode:deuuseuserMode:rMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:userMode:MuserMode:odususerMode:erModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::uuserMode:seruserModuseruserMode:Mode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:MuserMode:ode:de:userModuserMode:e:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::useuserMode:rMode:seruserMuserMode:odeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserModuserMode:e:euseuserMode:rMode:::userMode:	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] =ususerMode:erMode:usususeruserMode:Mode:erMuserMode:oduserMuserModuserMode:e:ouserMode:de:userMode:e:userMode:erususeruserMode:Mode:eruserMode:ModususeuserMode:rMode:erMode:euserMode::useruserMouserMouserMode:de:deususerMode:erMode::Mode:ModeuserMode::uuserMouserMode:de:seruserModeuserMode::Mode:ususerMode:euserMode:userMuserMouseruserMode:Mode:dususerMode:erMode:euserMode::oduserMode:ususerModeuserMode::euserMode:rMode:e:uuserMode:serModeuserModuserModeuserMode::e::rMususerMode:erMode:oduseruserMode:MuserMode:ode:e:uuseuserMode:ruserMuserMode:ode:userMouserususerMode:euserModuserMode:e:rMuserMode:ode:MuserMuserMode:oduserMode:euserMode::ode:deuserMode::Mode:serModuseuserModuserMode:e:rMode:useruserMode:Mode:e:userMode:useuseuserMode:rMode:rMoususeruserModeuseuserModeuserMode::rMode::Mode:userMode:erMuserMode:ode:uuserModeuserMode::seruserModeuseuserMode:rMode::Mode:de:userModeuserMode::useruserMode:MuseuseuserMode:rModuserMode:e:rMode:ouuserMode:serMode:de:odeuserMode::userMuserMode:ouserMode:de:useuserMode:rModuseruserMode:Mode:e:useruserMode:Mode:usuuserMode:seruseruserModuserMode:e:MuserMode:odeuserMode::ouseruserMode:ModeuuserMode:serMode::deuseruserMode:MouseuseuserMode:rMode:rMode:deuserMode:::userMode:uuserMode:serMode:mainususerMode:erMode:.cuuserMode:serMouserMode:deuserMouserMode:de::puuserModeuseuserMode:rMode::serMuseruseuserMuserMode:ode:rMode:MouseruserMode:Mode:de:userMode:ode:p:	ruserMode:tuserModuserMode:e:-uususerMode:euserModuserMode:e:rMode:suserMode:erModuserMode:e:userModeuserMode::userMususerModeuserMode::erMode:ode:rt-userModeuserMode::>pid,0usususerMode:ususeruserMode:Mode:erMode:		ususerMode:euserMouserMode:duserMode:e:rMode:	// ruserMode:tuserMode:->userMode:userModeuserMode::userModuserModuserModuserModuserMode:e:e:e:e:houserMode:usususerMode:erMode:eruuserMode:serMode:ususeruserMouserModeuserMode::duserMode:userMode:e:userMode:Mode:erMuseruserMode:Mode:odeuserModeuseuserMode:rMode:::Mode:nda_countuserMode: iuserususerMode:erMode:MuseuserMode:rMouserMode:de:oduserMode:euserMode::s tuserMode:userMouserMode:uuserMode:serMouserMode:de:de:hususerModuseruseuserMode:rMode:Mode:e:euserMode:rMouuseuserModuserMode:e:rMode:serModeuserMouserMode:de::userMode:deuuserMouuserMode:serModuserMode:e:deuuseuserMode:rMode:serMode:userMode::serMode::euuserMode:serMode:useruserMode:userMode:MouserMode:de: ususerMode:erMode:uuserMode:userMouserModeuserMode::deuserMode::useuserMode:rMode:serMuseuseruserMode:MouserMode:de:useuserMode:rMouserMuserMode:ode:de:rMode:ouseuserMode:rMode:duserMode:e:userMode:seuserMode:rvuserModeususerMode:erModeuserMode:::o loususerMode:erMode:uuserMode:serModuserMode:e:ouserModuserMode:e:p 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userMode:rt->userModeuserModuserMode:e::uuserMode:serMode:timuserModeuseuserMode:rMode::userMode::sususerMode:erModeuserMode::euserMode:ruserMode:useuserMuseruserMode:Mode:ouuserMouserMode:de:serMode:deususerMode:erMode::ususeruserMode:Mode:erMode:rMouserMode:de:Mode:e:userMuserMode:ode:userMode:ruserMode:t->ususerMouserMode:de:userMode:er_useuseuserMuserMode:oduseuserMode:rMode:e:rMuserMouseruserMode:Mode:de:ode:deuserMuserMode:ode::serMode:usususeuseuserMode:rMode:rMode:euuserMode:serMode:rMode:userModuseruserMode:Mode:e:erModeuseruserMode:MouserMode:de::userMode:		//		useruserMode:ModuseuserModeuserMode::rMode:e:	rtuseruserMode:Mode:->xuuserModuserMode:e:serMode:ususerMode:erMode:[1]ususerMode:eruserMode:ModususerMode:userMode:eususeruserMode:Mode:erMode:rMode:e:, userMode:rususerMode:erMuserMode:ode:iususerMode:euserMouserMode:de:ruseuserModuseuseruserMode:Mode:rMode:e:ruserModuserMode:e:Mode:Mode:ll(rt->piduseuserMode:rMode:,0) == 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rt->x[ususerMuserMode:odususerMode:euserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deusuuserMode:serMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuserMode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserMode:userModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[ususerMode:erMuseruserMode:Mode:oduserMode:e:1],userMode: rt-userMode:uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMode:userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:useruserMode:Mode:			usuuserModuserMode:e:suserMode:userMode:erMuserModuserMode:e:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserModuserMode:e:ModuserMode:e:de:erMuuserMode:serMode:ode:57.3*userMode:rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:MouserMode:deususeuseruseuserMode:rMode:Mode:rMode:userMode:erMode::l[0], 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userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuseruserMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserMode:serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserMode:Mode:de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususerModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModususerMode:erMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->useuserMode:rMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserMouserMode:deuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:userMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:ModuserMode:e::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuususerMode:erMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruseuserMode:rMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserModuserMode:e:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruseuserMode:rMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuseuserMode:rususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruserMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rMouserMode:deuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseuserMode:ruserMode:Mode:ruseuserMode:ruuserMuserMode:ode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususeuserMode:rMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseuserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MoususerMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, 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rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:Mode:e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:tfuseruseruseruserMode:Mode:Mode:Mode:[i]useruserMode:ModuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:e:=useruseruserMode:Mode:Mode:userMode:useuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:seuserMuserMode:ode:rMuseruseruserMode:Mode:Mode:ode:ModeuseruserMode:ModuseruseuseruserMode:Mode:rModeuserMode::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:serMuseuserMode:ruserMode:Mode:ouserMode:de::f[1userMode:useuuserMode:seuseruseruserMode:Mode:Mode:ruserMode:MouseruserMode:Mode:de:rMode:]useruserMode:Mode:, rt-userModuserMode:e:useuserMode:ruuserModeuseruserMode:Mode::seuserMode:rMode:ModeuseruserMode:ModeususeruseruserModeuserMode::Mode:Mode:eruseruserususerMode:erMode:de:useuserMode:ruserMode:Mode:MuserMode:ode:useuserMode:rModuserMode:e:ruseuseruserMode:Mode:rMode:tuseruserMouseruserMode:Mode:de:Mode:->useruserMode:Mode:a0[iuuserModuserMode:e:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruserMode:Mode:Mode:Mode:serModeuserMode::ModuserMode:e::useuseruserMode:Mode:rMouseuserMode:rMuseruserMode:Mode:ode:de:usuuseruserMode:Mode:suseruserMode:ModuseruserMode:Mode:e:erModeususeruserMode:Mode:eruserMode:Mode::useruseruserMode:Mode:Mode:erModuserMuseruserMode:Mode:ode:e:uuserMode:seruseruseuseruserMode:Mode:rMode:ModeuseruseuserMode:rMode:Mode:::rt->q[i])useuseuseruserMode:ModeuserMode::rModeuserMuseruserMode:Mode:oduserMode:e::rMuserMode:uuseruserMode:Mode:serModuseruseruserMode:ModuserMode:e:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuuserMode:seuseruserMode:Mode:ruserMuserMode:oduseruseruserMode:Mode:Mode:userMode:euseruserMode:Mode:useusususerMode:erMode:erMuseruserMode:Mode:ode:rMode:useruserMode:ModuserMode:e::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruseuserMode:rMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMuserMode:ususeruserMode:Mode:erModeuserMode::ouseruserMode:ModeuserMode::deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruseruserMode:Mode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMuserMode:ouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuseruserMode:ModuserModuseruserMode:Mode:e:e:serMouuseruserMode:ModuserMode:e:serMouserMode:dususeruserMode:Mode:erMode:e:duseruseuserMode:rMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:userModeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:Mode:::useruseruserModuseruseruserMode:Mode:Mode:euserMode:useruserMode:Mode::ModususerMode:euserMode:ruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- userMode:rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::userMode:euuseruserMode:Mode:serMode::Mode::[iuseruserMode:ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserModeuserMode:::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserModuserMode:e:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::userMode:serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeuserMode:ruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rMuserMode:odeuserMode:usuuseruserMode:Mode:serMode:eruseruserModuserMode:e:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuuserMode:serModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseuserMode:ruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:MouserMode:de:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuseruserMode:Mode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:MuserMode:odeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruseuserMode:rMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseuserMode:ruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserModeuserMode::rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouseruserMode:MuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruseuserMode:rMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::userMode:[0]userModeuseruseruserMode:Mode:Mode::);
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(rt->ususeuserModeuserMode::rMode:erEusuuserModeuserModeususerMode:euserMode:ruserMode:Mode:::serMouserMode:duserMode:e:erMouserMouserMode:de:deuserMode::xit userMode:!=usususeruseuserMode:rMode:ModeuseuserMode:rMode::erModeuserModeuserMode:::euseruserMode:useruserMode:ModeuserMode::Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userModuseruseruserMode:Mode:Mode:e:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:userMuserMode:ode:euserMode:ususerMode:erMode:::uususerMode:erMuserMode:ode:seruseruseuserMode:rMode:Mode:ModuserMode:e:useuserMouserMouserMode:de:de:userMode:ruuserMouserMode:de:seuserMouseruserModeuserModeuserMode:::Mode:de:rMode:MouseuseuserModeuserMode::rMode:ruserMode:Mode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerModeuserMode::erModeuserMode::suseruserMode:Mode:useruuserMode:serModuseruserMode:ModeuserModeuserMode:::euserMode::userMode:ModuserMode:e:eruususerMode:erMode:seruserMuseruseruserModeuserMode::ModuserMode:e:Mode:ode:ModeuserMouserModuserMode:e:de::Mode:useuseruseususerModeuseruserMode:Mode::euseruserMode:Mode:Mode:MuserMouserMode:de:odeuserMode::userModuseuserMode:rModeuserMode::e:rt->ususerususerMode:euseruseuserMode:rMode:Mode:rModeuuserMode:serModuserModeuserMode::e::Mode:erEuuserMode:seuserModeuserMode::rModuseuserMode:rMouseruserModeuserModeuserMode:::Mode:de:e:n", uuserMode:seuseruserModeuserMode::uuserMode:serMode:Mode:userModeuserMode::rMuseruseruserMode:Mode:Mode:ouserMode:duserMode:e:rtuserMouserMode:de:-userModeuserMode::>userMode:uususerModeuserMode::euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:userMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::MouserMode:deuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuseruserMode:Mode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:useuserMode:rModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:MouserMode:de::uuserMode:userMode:suserMode:erModuserModuserMode:euserMode::userModuserMode:e:e:.cpp:	ususeruserModuserMode:e:Mode:eruuserMode:serMode:Mode:userModeuserMode::		userMuseususerMode:erMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::MouserMode:duseuserMode:rMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuseuseruserMode:Mode:rususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:oduserMode:e:rMouserMode:de:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserMouserMode:duserMode:e:ususerMode:eruserMode:MuserMode:ouserMouserMode:de:de::rt->muserMode:uuuserMode:serMode:useruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuseuserMode:rMode:::rMode:ePauserMode:ramuseuserMode:rModeuserMode::eters(rt->a0useruserMode:MoususeuserModeuserMode::rModeuserMode::euserMode:rMode:deuserMuuserModeuserMode::suserMode:erModeuserMode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserMode:duserMode:e:e::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euuserMode:serMode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:erMode:rModeuserMode::Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:useuseruserMode:ModuserMode:e:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serMuserMode:oduseruseuuseuserMode:rMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuuserMode:serMuserMode:ode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserModuseruserMode:Mode:e:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, userModeuserMode::rt->userMode:uuuserModeuserMode::serMouserMode:de:userModuserususerMode:euserModuserMode:e:rMode:Mode:uuserMode:serMode:e:userMode:suserMode:erModususeruseuserModuserModeuserMode::e:rMode:MouserMode:de:userMode:userMode:euserMode:rMuserModeuserMode::ode:e:usususerMode:euserMode:ruserMode:MuserModeuseuserMode:rMode::odeuserMode::erMuserModuserMuseususerMode:erMode:rMouserMode:de:ModuuserMode:serModuserMode:e:e:ususeruserMode:Mode:euserMouserMode:de:rMode:userModuseuserMode:rMode:e: = userMode:tiuserMode:userMode:muserMode:e uuserMode:seuserMode:rMode:- rtuserModuserMode:e:-useuserMode:rMode:>userMode:xtimeuuseruseuserMode:rMode:userMode:ModeuuserMode:ususerMouserMode:de:userMode:erMouseruseruserModuserMode:e:MouserMode:de:ModuserMode:e:de:serMode::serModuseususerMode:erModeuserMode::rMode:euserMode::useruseruserMode:Mode:MouserModeuserMode::de:;	uuserMode:serMode:// 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rt->x[ususerMuserMode:odususerMode:euserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deusuuserMode:serMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuserMode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuserMode:uuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserMode:userModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[ususerMode:erMuseruserMode:Mode:oduserMode:e:1],userMode: 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userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserMode:serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserMode:ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModususerMode:erMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->useuserMode:rMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserMouserMode:deuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:userMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:ModuserMode:e::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuususerMode:erMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruseuserMode:rMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserModuserMode:e:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruseuserMode:rMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuseuserMode:rususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruuserMode:serMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rMouserMode:deuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseuserMode:ruserMode:Mode:ruseuserMode:ruuserMuserMode:ode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususeuserMode:rMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseuserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MoususerMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:Mode:, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuserMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:tfuseruseruseruserMode:Mode:Mode:Mode:[i]useruserMode:ModuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:e:=useruseruserMode:Mode:Mode:userMode:useuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:seuserMuserMode:ode:rMuseruseruserMode:Mode:Mode:ode:ModeuseruserMode:ModuseruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, 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rt->x[ususerMuserMode:odususerMode:euserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deusuuserMode:serMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuserMode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMuserMode:ususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuserMode:uuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserMode:userModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[ususerMode:erMuseruserMode:Mode:oduserMode:e:1],userMode: rt-userMode:uususerMode:erMode:serMode:rMode:userMode:duuserMode:serMode:e:p:		userMode:userMouserMode:de:	userMode:ususeruserMode:Mode:erMode:useruserMode:Mode:			usuuserModuserMode:e:suserMode:userMode:erMuserModuserMode:e:oduserModususerMode:erMode:e:e:userMode:useuserMode:rMouseruserModuserMode:e:ModuserMode:e:de:erMuuserMode:serMode:ode:57.3*userMode:rt->juseuserMode:rMouserMode:de:goauuserMode:seruuserMode:seuserMode:rMode:MouserMode:deususeuseruseuserMode:rMode:Mode:rMode:userMode:erMode::l[0], 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userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:Mode:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserModeuserMode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserMode:ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:userMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModususerMode:erMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->useuserMode:rMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserMouserMode:deuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:userMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:ModuserMode:e::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuususerMode:erMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruseuserMode:rMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserModuserMode:e:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::MuserMode:oduserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruseuserMode:rMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuseuserMode:rususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruuserMode:serMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rMouserMode:deuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseuserMode:ruserMode:Mode:ruseuserMode:ruuserMuserMode:ode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususeuserMode:rMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseuserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MoususerMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouseruseuseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:tfuseruseruseruserMode:Mode:Mode:Mode:[i]useruserMode:ModuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:e:=useruseruserMode:Mode:Mode:userMode:useuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:seuserMuserMode:ode:rMuseruseruserMode:Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:serMuseuserMode:ruserMode:Mode:ouserMode:de::f[1userMode:useuuserMode:seuseruseruserMode:Mode:Mode:ruserMode:MouseruserMode:Mode:de:rMode:]useruserMode:Mode:, rt-userModuserMode:e:useuserMode:ruuserModeuseruserMode:Mode::seuserMode:rMode:ModeuseruserMode:ModeususeruseruserModeuserMode::Mode:Mode:eruseruserususerMode:erMode:de:useuserMode:ruserMode:Mode:MuserMode:ode:useuserMode:rModuserMode:e:ruseuseruserMode:Mode:rMode:tuseruserMouseruserMode:Mode:de:Mode:->useruserMode:Mode:a0[iuuserModuserMode:e:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = 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userMode:rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rMode:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::useruserMode:Mode:euuseruserMode:Mode:serMode::Mode::[iuseruserModeuserMode::ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserModeuserMode:::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserModuserMode:e:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::userMode:serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeuserMode:ruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rMuserMode:odeuserMode:usuuseruserMode:Mode:serMode:eruseruserModuserMode:e:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuuserMode:serModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseuserMode:ruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:MouserMode:de:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuseruserMode:Mode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:MuserMode:odeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruseuserMode:rMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseuserMode:ruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserModeuserMode::rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouseruserMode:MuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruseuserMode:rMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::userMode:[0]userModeuseruseruserMode:Mode:Mode::);
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(rt->ususeuserModeuserMode::rMode:erEusuuserModeuserModeususerMode:euserMode:ruserMode:Mode:::serMouserMode:duserMode:e:erMouserMouserMode:de:deuserMode::xit userMode:!=usususeruseuserMode:rMode:ModeuseuserMode:rMode::erModeuserModeuserMode:::euseruserMode:useruserMode:ModeuserMode::Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userModuseruseruserMode:Mode:Mode:e:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:userMuserMode:ode:euserMode:ususerMode:erMode:::uususerMode:erMuserMode:ode:seruseruseuserMode:rMode:Mode:ModuserMode:e:useuserMouserMouserMode:de:de:userMode:ruuserMouserMode:de:seuserMouseruserModeuserModeuserMode:::Mode:de:rMode:MouseuseuserModeuserMode::rMode:ruserMode:Mode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerModeuserMode::erModeuserMode::suseruserMode:Mode:useruuserMode:serModuseruserMode:ModeuserModeuserMode:::euserMode::userMode:ModuserMode:e:eruususerMode:erMode:seruserMuseruseruserModeuserMode::ModuserMode:e:Mode:ode:ModeuserMouserModuserMode:e:de::Mode:useuseruseususerModeuseruserMode:Mode::euseruserMode:Mode:Mode:MuserMouserMode:de:odeuserMode::userModuseuserMode:rModeuserMode::e:rt->ususerususerMode:euseruseuserMode:rMode:Mode:rModeuuserMode:serModuserModeuserMode::e::Mode:erEuuserMode:seuserModeuserMode::rModuseuserMode:rMouseruserModeuserModeuserMode:::Mode:de:e:n", uuserMode:seuseruserModeuserMode::uuserMode:serMode:Mode:userModeuserMode::rMuseruseruserMode:Mode:Mode:ouserMode:duserMode:e:rtuserMouserMode:de:-userModeuserMode::>userMode:uususerModeuserMode::euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:userMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::MouserMode:deuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuseruserMode:Mode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:useuserMode:rModeuserMode:::(userMode:rt->uuserModuserModeuserMode::euseruserMode:MouserMode:de::uuserMode:userMode:suserModuserMode:e:erModuserModuserMode:euserMode::userModuserMode:e:e:.cpp:	ususeruserMouserMode:duserMode:e:Mode:eruuserMode:serMode:Mode:userModeuserMode::		userMuseususerMode:erMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::MouserMode:duseuserMode:rMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuseuseruserMode:Mode:rususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:oduserMode:e:rMouserMode:de:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserMouserMode:duserMode:e:ususerMode:eruserMode:MuserMode:ouserMouserMode:de:de::rt->muserMode:uuuserMode:serMode:useruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuseuserMode:rMode:::rMode:ePauserMode:ramuseuserMode:rModeuserMode::eters(rt->a0useruserMode:MoususeuserModeuserMode::rModeuserMode::euserMode:rMode:deuserMuuserModeuserMode::suserMode:erModeuserMode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserMode:duserMode:e:e::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euuserMode:serMode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:erMode:rModeuserMode::Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:useuseruserMode:ModuserMode:e:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serMuserMode:oduseruseuuseuserMode:rMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuuserMode:serMuserMode:ode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserModuseruserMode:Mode:e:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, 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userModeuserMode::usuuserMode:userModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMuseruserMode:Mode:ouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:suserMode:erModuserMode:e:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserModuserMode:e:userMuserModuserMode:e:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rMouserMode:deuserMode:uususerMode:erModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserModeuserMode::e:Mode:deuuseuserMode:rMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:userMode:MuserMode:odususerMode:erModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::uuserMode:seruserModuseruserMode:Mode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:MuserMode:ode:de:userModuserMode:e:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::useuserMode:rMode:seruserMuserMode:odeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserModuserMode:e:euseuserMode:rMode:::userMode:	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] 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rt->x[ususerMuserMode:odususerMode:euserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deusuuserMode:serMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuserMode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuserMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseuserMode:ruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMuserMode:ususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuserMode:uuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserMode:userModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[ususerMode:erMuseruserMode:Mode:oduserMode:e:1],userMode: 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userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:de:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:MouserMode:de:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserModeuserMode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserMode:ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ode:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModususerMode:erMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->useuserMode:rMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserMouserMode:deuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:userMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuserMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:ModuserMode:e::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuususerMode:erMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruserususerMode:eruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruseuserMode:rMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserModuserMode:e:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::MuserMode:oduserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruseuserMode:rMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuseuserMode:rususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruuserMode:serMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rMouserMode:deuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseuserMode:ruserMode:Mode:ruseuserMode:ruuserMuserMode:ode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususeuserMode:rMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouseruseuserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MoususerMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruserMode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:tfuseruseruseruserMode:Mode:Mode:Mode:[i]useruserMode:ModuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:e:=useruseruserMode:Mode:Mode:userMode:useuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:seuserMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:serMuseuserMode:ruserMode:Mode:ouserMode:de::f[1userMode:useuuserMode:seuseruseruserMode:Mode:Mode:ruserMode:MouseruserMode:Mode:de:rMode:]useruserMode:Mode:, rt-userModuserMode:e:useuserMode:ruuserModeuseruserMode:Mode::seuserMode:rMode:ModeuseruserMode:ModeususeruseruserModeuserMode::Mode:Mode:eruseruserususerMode:erMode:de:useuserMode:ruserMode:Mode:MuserMode:ode:useuserMode:rModuserMode:e:ruseuseruserMode:Mode:rMode:tuseruserMouseruserMode:Mode:de:Mode:->useruserMode:Mode:a0[iuuserModuserMode:e:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = 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userMode:rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuseruserModuuseruserMode:Mode:seuseruseruseruseuserMode:rModuserMode:e:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::useruserMode:Mode:euuseruserMode:Mode:serMode::Mode::[iuseruserModeuserMode::ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserModeuserMode:::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserModuserMode:e:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::userMode:serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeuserMode:ruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rMuserMode:odeuserMode:usuuseruserMode:Mode:serMode:eruseruserModuserMode:e:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuuserMode:serModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseuserMode:ruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:MouserMode:de:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuseruserMode:Mode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:MuserMode:odeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruseuserMode:rMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseuserMode:ruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserModeuserMode::rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouseruserMode:MuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruseuserMode:rMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::userMode:[0]userModeuseruseruserMode:Mode:Mode::);
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(rt->ususeuserModeuserMode::rMode:erEusuuserModeuserModeususerMode:euserMode:ruserMode:Mode:::serMouserMode:duserMode:e:erMouserMouserMode:de:deuserMode::xit userMode:!=usususeruseuserMode:rMode:ModeuseuserMode:rMode::erModeuserModeuserMode:::euseruserMode:useruserMode:ModeuserMode::Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userModuseruseruserMode:Mode:Mode:e:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:userMuserMode:ode:euserMode:ususerMode:erMode:::uususerMode:erMuserMode:ode:seruseruseuserMode:rMode:Mode:ModuserMode:e:useuserMouserMouserMode:de:de:userMode:ruuserMouserMode:de:seuserMouseruserModeuserModeuserMode:::Mode:de:rMode:MouseuseuserModeuserMode::rMode:ruserMode:Mode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerModeuserMode::erModeuserMode::suseruserMode:Mode:useruuserMode:serModuseruserMode:ModeuserModeuserMode:::euserMode::userMode:ModuserMode:e:eruususerMode:erMode:seruserMuseruseruserModeuserMode::ModuserMode:e:Mode:ode:ModeuserMouserModuserMode:e:de::Mode:useuseruseususerModeuseruserMode:Mode::euseruserMode:Mode:Mode:MuserMouserMode:de:odeuserMode::userModuseuserMode:rModeuserMode::e:rt->ususerususerMode:euseruseuserMode:rMode:Mode:rModeuuserMode:serModuserModeuserMode::e::Mode:erEuuserMode:seuserModeuserMode::rModuseuserMode:rMouseruserModeuserModeuserMode:::Mode:de:e:n", uuserMode:seuseruserModeuserMode::uuserMode:serMode:Mode:userModeuserMode::rMuseruseruserMode:Mode:Mode:ouserMode:duserMode:e:rtuserMouserMode:de:-userModeuserMode::>userMode:uususerModeuserMode::euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:userMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::MouserMode:deuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuseruserMode:Mode::duserMuseruseruserMode:Mode:ModuserMode:e:odeuseruserMode:Mode:useuserMode:rModeuserMode:::(userMode:rt->uuserModususerMode:erModeuserMode::euseruserMode:MouserMode:de::uuserMode:userMode:suserModuserMode:e:erModuserModuserMode:euserMode::userModuserMode:e:e:.cpp:	ususeruserMouserMode:duserMode:e:Mode:eruuserMode:serMode:Mode:userModeuserMode::		userMuseususerMode:erMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::MouserMode:duseuserMode:rMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuseuseruserMode:Mode:rususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:oduserMode:e:rMouserMode:de:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserMouserMode:duserMode:e:ususerMode:eruserMode:MuserMode:ouserMouserMode:de:de::rt->muserMode:uuuserMode:serMode:useruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuseuserMode:rMode:::rMode:ePauserMode:ramuseuserMode:rModeuserMode::eters(rt->a0useruserMode:MoususeuserModeuserMode::rModeuserMode::euserMode:rMode:deuserMuuserModeuserMode::suserMode:erModeuserMode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserMode:duserMode:e:e::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euuserMode:serMode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:erMode:rModeuserMode::Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:useuseruserMode:ModuserMode:e:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serMuserMode:oduseruseuuseuserMode:rMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuuserMode:serMuserMode:ode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserModuseruserMode:Mode:e:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, userModeuserMode::rt->userMode:uuuserModeuserMode::serMouserMode:de:userModuserususerMode:euserModuserMode:e:rMode:Mode:uuserMode:serMode:e:userMode:suserMode:erModususeruseuserModuserModeuserMode::e:rMode:MouserMode:de:userMode:userMode:euserMode:rMuserModeuserMode::ode:e:usususerMode:euserMode:ruserMode:MuserModeuseuserMode:rMode::odeuserMode::erMuserModuserMuseususerMode:erMode:rMouserMode:de:ModuuserMode:serModuserMode:e:e:ususeruserMode:Mode:euuserMode:serMouserMode:de:rMode:userModuseuserMode:rMode:e: = userMode:tiuserMode:userModeuserMode::muserMode:e uuserMode:seuserMode:rMode:- rtuserModuserMode:e:-useuserMode:rMode:userMode:>userMode:xtimeuuseruseuserMode:rMode:userMode:ModeuuserMode:ususerMouserMode:de:userMode:erMouseruseruserModuserMode:e:MouserMode:de:ModuserMode:e:de:serMode::serModuseususerMode:erModeuserMode::rMode:euserMode::useruseruserMode:Mode:MouserModeuserMode::de:;	uuserMode:serMode:// 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userModeuserMode::usuuserMode:userModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMuseruserMode:Mode:ouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:suserMode:erModuserMode:e:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserModuserMode:e:userMuserModuserMode:e:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rMouserMode:deuserMode:uususerMode:erModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserModeuserMode::e:Mode:deuuseuserMode:rMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:userMode:MuserMode:odususerMode:erModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::uuserMode:seruserModuseruserMode:Mode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:MuserMode:ode:de:userModuserMode:e:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::useuserMode:rMode:seruserMuserMode:odeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserModuserMode:e:euseuserMode:rMode:::userMode:	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] 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userMouserMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:userMode:rModuserMode:e:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserModeuseruserMode:Mode::rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:userMode:euseuuserMode:serMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMouserMode:de:e:rMouserususerMode:erMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserModeuserMode::ruserMode:Mode:serModeuserMode::Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:userMode:e:userModeuserMode::useususeruseuserMode:rMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:ruserMode:Mode:rMode:oruserMode:guserMuserMode:ode:userMode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModuserMode:euserMode::MoususerMode:eruserMode:ModuseuserModeuuserMode:serMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userMode:userModuserMuserMode:ode:e:erModeuserMode::puuserMuserMode:odeuserMode::suserMode:userMode:erMuserMode:ousususerMode:eruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:userMode:MuserMode:userMode:ode:t-userMuserMode:ouserMode:duserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::dususerMode:erMode:e:[1ususeuseuserMode:rMouserMode:de:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:euserMode:::], rt->x[ususerMuserMode:odususerMode:euserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deusuuserMode:serMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuserMode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuuserMode:serMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseuserMode:ruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMuserMode:ususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuserMode:uuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserMode:userModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[ususerMode:erMuseruserMode:Mode:oduserMode:e:1],userMode: 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userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeuserMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:duserMode:e:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:MouserMode:de:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserModeuserMode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserMode:ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModususerMode:erMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->useuserMode:rMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserMouserMode:deuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:userMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuseuserMode:rMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:ModuserMode:e::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuususerMode:erMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruserususerMode:eruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruseuserMode:rMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserModuserMode:e:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::MuserMode:oduserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruseuserMode:rMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuseuserMode:rususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruuserMode:serMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rMouserMode:deuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseuserMode:ruserMode:Mode:ruseuserMode:ruuserMuserMode:ode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususeuserMode:rMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MoususerMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:Mode:duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:tfuseruseruseruserMode:Mode:Mode:Mode:[i]useruserMode:ModuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:e:=useruseruserMode:Mode:Mode:userMode:useuserMode:ruuseruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:serMuseuserMode:ruserMode:Mode:ouserMode:de::f[1userMode:useuuserMode:seuseruseruserMode:Mode:Mode:ruserMode:MouseruserMode:Mode:de:rMode:]useruserMode:Mode:, rt-userModuserMode:e:useuserMode:ruuserModeuseruserMode:Mode::seuserMode:rMode:ModeuseruserMode:ModeususeruseruserModeuserMode::Mode:Mode:eruseruserususerMode:erMode:de:useuserMode:ruserMode:Mode:MuserMode:ode:useuserMode:rModuserMode:e:ruseuseruserMode:Mode:rMode:tuseruserMouseruserMode:Mode:de:Mode:->useruserMode:Mode:a0[iuuserModuserMode:e:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = 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userMode:rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserMode:Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuserususerMode:erModuuseruserMode:Mode:seuseruseruseruseuserMode:rModuserMode:e:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::useruserMode:Mode:euuseruserMode:Mode:serMode::Mode::[iuseruserModeuserMode::ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserModeuserMode:::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserModuserMode:e:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::userMode:serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeuserMode:ruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rMuserMode:odeuserMode:usuuseruserMode:Mode:serMode:eruseruserModuserMode:e:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuuserMode:serModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseuserMode:ruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:MouserMode:de:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuseruserMode:Mode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:MuserMode:odeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruseuserMode:rMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseuserMode:ruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserModeuserMode::rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouseruserMode:MuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruseuserMode:rMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::userMode:[0]userModeuseruseruserMode:Mode:Mode::);
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(rt->ususeuserModeuserMode::rMode:erEusuuserModeuserModeususerMode:euserMode:ruserMode:Mode:::serMouserMode:duserMode:e:erMouserMouserMode:de:deuserMode::xit userMode:!=usususeruseuserMode:rMode:ModeuseuserMode:rMode::erModeuserModeuserMode:::euseruserMode:useruserMode:ModeuserMode::Mode:ruseruseruserMode:Mode:Mode:MuserMode: 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uuserMode:seuseruserModeuserMode::uuserMode:serMode:Mode:userModeuserMode::rMuseruseruserMode:Mode:Mode:ouserMode:duserMode:e:rtuserMouserMode:de:-userModeuserMode::>userMode:uususerModeuserMode::euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:userMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::MouserMode:deuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:anuserModeuseruserMode:Mode::duserMuseruseruserMode:Mode:ModuserMode:e:ouserMode:deuseruserMode:Mode:useuserMode:rModeuserMode:::(userMode:rt->uuserModususerMode:erModeuserMode::euseruserMode:MouserMode:de::uuserMode:userMode:suserModuserMode:e:erModuserModuserMode:euserMode::userModuserMode:e:e:.cpp:	ususeruserMouserMode:duserMode:e:Mode:eruuserMode:serMode:Mode:userModeuserMode::		userMuseususerMode:erMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::MouserMode:duseuserMode:rMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuseuseruserMode:Mode:rususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:oduserMode:e:rMouserMode:de:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserMouserMode:duserMode:e:ususerMode:eruserMode:MuserMode:ouserMouserMode:de:de::rt->muserMode:uuuserMode:serMode:useruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuseuserMode:rMode:::rMode:ePauserMode:ramuseuserMode:rModeuserMode::eters(rt->a0useruserMode:MoususeuserModeuserMode::rModeuserMode::euserMode:rMode:deuserMuuserModeuserMode::suserMode:erModeuserMode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserMode:duserMode:e:e::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euuserMode:serMode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:erMode:rModeuserMode::Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:useuseruserMode:ModuserMode:e:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serMuserMode:oduseruseuuseuserMode:rMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuuserMode:serMuserMode:ode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserModuseruserMode:Mode:e:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, userModeuserMode::rt->userMode:uuuserModeuserMode::serMouserMode:de:userModuserususerMode:euserModuserMode:e:rMode:Mode:uuserMode:serMode:e:userMode:suserMode:erModususeruseuserModuserModeuserMode::e:rMode:MouserMode:de:userMode:userMode:euserMode:rMuserModeuserMode::ode:e:usususerMode:euserMode:ruserMode:MuserModeuseuserMode:rMode::odeuserMode::erMuserModuserMuseususeruserMode:Mode:erMode:rMouserMode:de:ModuuserMode:serModuserMode:e:e:ususeruserMode:Mode:euuserMode:serMouserMode:de:rMode:userModuseuserMode:rMode:e: = userMode:tiuserMode:userModeuserMode::muserMode:e uuserMode:seuserMode:rMode:- rtuserModuserMode:e:-useuserMode:rMode:userMode:>userMode:xtimeuuseruseuserMode:rMode:userMode:ModeuuserMode:ususerMouserMode:de:userMode:erMouseruseruserModuserMode:e:MouserMode:de:ModuserMode:e:de:serMode::serModuseususerMode:erModeuserMode::rMode:euserMode::useruseruserMode:Mode:MouserModeuserMode::de:;	uuserMode:serMode:// 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rt->x[ususerMuserMode:odususerMode:euserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deusuuserMode:serMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruserMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuseruserMode:Mode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuuserMode:serMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseuserMode:ruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMuserMode:ususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuserMode:uuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserMode:userModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[ususerMode:erMuseruserMode:Mode:oduserMode:e:1],userMode: 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userMouserMode:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMouseuserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMode:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerMode:erMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:duserMode:e:userMode:eruseuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:MouserMode:de:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserModeuserMode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserMode:ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruserMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:seruserMode:EuseruseruserMode:Mode:ModeuseruserMode:MouserMode:deuserModeususerMode:erModususerMode:erMode:e::::xit,SuseuuserMode:serMode:rModeuseruseuserMode:rMode:Mode::M->useuserMode:rMode:uuserModeuserMode::serEuseruserMode:Mode:xuseuserMode:rMode:useuserMode:ruseuserMode:ruseuserMode:rususerMode:erMode:MouserMode:de:ModeuserMode::Mode:useuserMode:rModeuseruserMode:Mode::useuseruserMode:Mode:ruserMouserMode:deuserMouseuserMode:rMode:deuserMouserMode:deuserMode::::ModeuseruuserMode:serMode:Mode::useuseuserMode:userMode:rMode:rMode:useuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:useuserMode:rModeuseruserModeuseuserMode:rMode::ModeuserMode:::useususerMode:eruserMode:Mode:ruseuserMode:rModeuseruserMode:ModuserMode:e::ModuserMode:userMode:euseruseruserMuserMode:ode:Mode:ModeususerMode:eruserMouserMode:deuserMode::Mode:::useuususerMode:erMode:seruserMode:Mode:rMouserMode:duserMode:e:useuseruserMode:Mode:ruseuserMode:ruserususerMode:eruserMode:Mode:ModeuseruserMode:Mode::ModeuseruserMode:Mode::ModuserModuserMode:e:e:useuseruseuserMode:rMode:Mode:rModuserMode:userMode:euseruseruserMode:Mode:ModeuserMuserMode:ode:::useuseruserMode:MouserMode:deuserMouserModuserMode:e:deuserMode:::ruseuserMouserMode:de:rModeuseruserModeuserMode::Mode::MuserMode:oduserMode:euseruseruserMode:Mode:ModeuserMode:::ususerMode:euseruserMode:Mode:rModuserMode:e:useuseruseuserMode:rMode:Mode:ruuserMode:seuserMode:ruseruseruserMode:userMode:Mode:ModeuserMode::ModeuseruserMuserMode:ode:Mode::ModuserMode:e:useuseuserMode:rususerMode:eruserMouserMode:deuserMode::Mode:Mode:ruuserMode:serMode:ModuserMode:euseruseuserMode:ruserMode:Mode:ModeuserMode:::useuseruseruserMode:Mode:Mode:ruseuserMode:rMouserMode:deuseruserMode:Mode::ModuserMode:euseruseruserModuserMode:e:userMode:Mode:ModeuserMode:::useuseruserMode:Mode:rModuserMuserMode:ode:e:useuseuserMode:ruserMode:Mode:ruseuserMode:ruuserMuserMode:ode:seuserMouserMode:deuserMode::ruseruserMouserMode:de:Mode:ModeuserModeuserMode:::ModeuseruserMode:ModeuserMode:::	ususeuserMode:rMode:erModuseruserMode:Mode:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MoususerMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruserMode:Mode:rModeuserMode::sususeruserMode:Mode:erMode:euseruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:tfuseruseruseruserMode:Mode:Mode:Mode:[i]useruserMode:ModuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:e:=useruseruserMode:Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:serMuseuserMode:ruserMode:Mode:ouserMode:de::f[1userMode:useuuserMode:seuseruseruserMode:Mode:Mode:ruserMode:MouseruserMode:Mode:de:rMode:]useruserMode:Mode:, rt-userModuserMode:e:useuserMode:ruuserModeuseruserMode:Mode::seuserMode:rMode:ModeuseruserMode:ModeususeruseruserModeuserMode::Mode:Mode:eruseruserususerMode:erMode:de:useuserMode:ruserMode:Mode:MuserMode:ode:useuserMode:rModuserMode:e:ruseuseruserMode:Mode:rMode:tuseruserMouseruserMode:Mode:de:Mode:->useruserMode:Mode:a0[iuuserModuserMode:e:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MouseruseruserMode:Mode:Mode:de::Mode:iususeruserMode:Mode:eruserMoususeruserMode:Mode:erModeuserususerMode:erModuserMode:e:ModeuseruseruserMode:Mode:ModuserMode:e:::de:ModuseruserMode:Mode:e:useuseruserModeuserMode::Mode:rMuserMode:odeuseuserMode:ruuseruseruseuserMode:ruseuserMode:rMode:Mode:Mode:Mode:serModeuserMode::ModuseruserMode:Mode:e::useuseruserMode:Mode:rMouseuserMode:ruserMode:MuseruserMode:Mode:ode:de:usuuseruserMode:ModuserMode:e:suseruserMode:ModuseruserMode:Mode:e:erModeuserMode:ususeruserMode:Mode:eruserMode:Mode::useruseruserMode:Mode:Mode:erModuserMuseruserMode:Mode:ode:e:uuserMode:seruseruseuseruserMode:Mode:rMode:ModeuseruseuserMode:rMode:Mode:::rt->q[i])useuseuseruserMode:ModeuserMode::rModeuserMuseruserMode:Mode:oduserMode:e::rMuserMode:uuseruserMode:Mode:serModuseruseruserMode:ModuserMode:e:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuuserMode:seuseruserMode:Mode:ruserMuserMode:oduseruseruserMode:Mode:Mode:userMode:euseruserMode:Mode:useusususerMode:erMode:erMuseruserMode:Mode:ode:rMode:useruserMode:ModuserMode:e::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruseuserMode:rMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMuserMode:ususeruserMode:Mode:erModeuserMode::ouseruserMode:ModeuserMode::deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruseruserMode:Mode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMuserMode:ouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuseruserMode:ModuserModuseruserMode:Mode:e:e:serMouuseruserMode:ModuserMode:e:serMouserMode:dususeruserMode:Mode:erMode:e:duseruseuserMode:rMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:userModeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:Mode:::useruseruserModuseruseruserMode:Mode:Mode:euserMode:useruserMode:Mode::ModususerMode:euserMode:ruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- userMode:rt->q[i]ususeruserMode:Mode:erMode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::odeuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuserMode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::e:seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeuseruserMode:Mode:::Mode:userMode:/(rt->tfususeruserModeuserMode::Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuserususerMode:erModuuseruserMode:Mode:seuseruseruseruseuserMode:rModuserMode:e:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::useruserMode:Mode:euuseruserMode:Mode:serMode::Mode::[iuseruserModeuserMode::ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserModeuserMode:::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserModuserMode:e:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::userMode:serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeuserMode:ruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rMuserMode:odeuserMode:usuuseruserMode:Mode:serMode:eruseruserModuserMode:e:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuuserMode:serModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseuserMode:ruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:MouserMode:de:de:seususerMuseruserMode:Mode:Mode::,rt->ad_vouususerModuseruserMode:Mode:e:erMode:suserMode:erususerMode:euseruserMode:Mode:rMode:MuserMode:odeususerMode:eruserMode:ususeruserMouserMode:deuserModeuseruseuserMode:rMode:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseuserMode:ruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuserModeuserMode::rMode::ruserModeuseruserModeuseuserMode:ruserMode:Mode::MouseruserMode:MuserMode:ode:deuserMode:::MuserMode:odeuuserMode:serModuseruseuserMode:rMode:ModeuserMode::e:::ageuserModuserMode:euserMouserMode:de::userMode:[0]userModeuseruseruserMode:Mode:Mode::);
userMuseruuserModuseruserMode:Mode:e:serMode:Mode:ouserModuserMode:euseruserMode:Mode::de:useuserMode:ruseuuserMode:ususerMode:erMode:serususerMode:eruserModeuseruseuserMode:rMode:Mode::MouserMode:de:Mode:useuserMode:rMouserMode:de:rModeuserMode::Mode:uusususeruserModeuserMode::Mode:erMode::e:cpp:useuserModeuserMode::rMode:	rt-useuserModuserModeuseuserMode:ruserMode:Mode::e:rMouuserMode:suserMode:erModeuserMode::de:useuserModeuuserMode:serModuseruseuserMode:rMode:ModeuserMode::e::rMode:ususeuserMode:rMode:euserMode:ruseuserMode:rususerModeuseruseruserMode:Mode:Mode::erMouseruserMuserModuseruserMode:ModeuserMode::e:ouserMode:de:ModeuseuuserMode:suseruserMode:Mode:erMode:useruserMode:Mode:rModeuserMode:::userMode:dususeruserMuserMode:oduserModeususerMode:eruseuserMode:rMode:Mode::e:userMode:Mode:erModeuserMode::e:useuserMode:rMode:ModuseruuserMode:serMode:de:useruserModeuserMode::Mode:(1userMode:) && (rt->ususeuserModeuserMode::rMode:erEusuuserModeuserModeususerMode:euserMode:ruserMode:Mode:::serMouserMode:duserMode:e:erMouserMouserMode:de:deuserMode::xit userMode:!=usususeruseuserMode:rMode:ModeuseuserMode:rMode::erModeuserModeuserMode:::euseruserMode:useruserMode:ModeuserMode::Mode:ruseruseruserMode:Mode:Mode:MuserMode: rt-userModuseruseruserMode:Mode:Mode:e:userModeuseuserMode:ruserMode:MuseruserMode:Mode:oduserMode:userMuserMode:ode:euserMode:ususerMode:erMode:::uususerMode:erMuserMode:ode:seruseruseuserMode:rMode:Mode:ModuserMode:e:useuserMouserMouserMode:de:de:userMode:ruuserMouserMode:de:seuserMouseruserModeuserModeuserMode:::Mode:de:rMode:MouseuseuserModeuserMode::rMode:ruserMode:Mode:de:userususerMode:euserMode:ruserMode:Mode:Mode:uususerModeuserMode::erModeuserMode::suseruserMode:Mode:useruuserMode:serModuseruserMode:ModeuserModeuserMode:::euserMode::userMode:ModuserMode:e:eruususerMode:erMode:seruserMuseruseruserModeuserMode::ModuserMode:e:Mode:ode:ModeuserMouserModuserMode:e:de::Mode:useuseruseususerModeuseruserMode:Mode::euseruserMode:Mode:Mode:MuserMouserMode:de:odeuserMode::userModuseuserMode:rModeuserMode::e:rt->ususerususerMode:euseruseuserMode:rMode:Mode:rModeuuserMode:serModuserModeuserMode::e::Mode:erEuuserMode:seuserModeuserMode::rModuseuserMode:rMouseruserModeuserModeuserMode:::Mode:de:e:n", uuserMode:seuseruserModeuserMode::uuserMode:serMode:Mode:userModeuserMode::rMuseruseruserMode:Mode:Mode:ouserMode:duserMode:e:rtuserMouserMode:de:-userModeuserMode::>userMode:uususerModeuserMode::euuseruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:userMode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserMode:::MouserMode:deuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:userMode:anuserModeuseruserMode:Mode::duserMuseruseruserMode:Mode:ModuserMode:e:ouserMode:deuseruserMode:Mode:useuserMode:rModeuserMode:::(userMode:rt->uuserModususerMode:erModeuserMode::euseruserMode:MouserMode:de::uuserMode:userMode:suserModuserMode:e:erModuserModuserMode:euserMode::userModuserMode:e:e:.cpp:	ususeruserMouserMode:duserMode:e:Mode:eruuserMode:serMode:Mode:userModeuserMode::		userMuseususerMode:erMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::MouserMode:duseuserMode:rMode:e:suserMode:erMode:userMode::		userMode:iuserMode:f(useruseuseuseruserMode:Mode:rususeuseruserMode:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:oduserMode:e:rMouserMode:de:MuserMuserModeususerMode:erModuserMode:e::ode:odeuserMouserMode:duserMode:e:ususerMode:eruserMode:MuserMode:ouserMouserMode:de:de::rt->muserMode:uuuserMode:serMode:useruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuseuserMode:rMode:::rMode:ePauserMode:ramuseuserMode:rModeuserMode::eters(rt->a0useruserMode:MoususeuserModeuserMode::rModeuserMode::euserMode:rMode:deuserMuuserModeuserMode::suserMode:erModeuserMode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserMode:duserMode:e:e::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euuserMode:serMode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:erMode:rModeuserMode::Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:useuseruserMode:ModuserMode:e:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serMuserMode:oduseruseuuseuserMode:rMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMode::de:MuuuserMode:serMuserMode:ode:seuserMode:rMode:ode:e:ususerMode:erMode:3userMode:,rtuseruseruseruserModuseruserMode:Mode:e:Mode:ModuserMode:e:userMode:Mode:-userMouserModeuserMode::de:>tf, userModeuserMode::rt->userMode:uuuserModeuserMode::serMouserMode:de:userModuserususerMode:euserModuserMode:e:rMode:Mode:uuserMode:serMode:e:userMode:suserMode:erModususeruseuserModuserModeuserMode::e:rMode:MouserMode:de:userMode:userMode:euserMode:rMuserModeuserMode::ode:e:usususerMode:euseuserMode:rMode:ruserMode:MuserModeuseuserMode:rMode::odeuserMode::erMuserModuserMuseususeruserMode:Mode:erMode:rMouserMode:de:ModuuserMode:serModuserMode:e:e:ususeruserMode:Mode:euuserMode:serMouserMode:de:rMode:userModuseuserMode:rMode:e: = userMode:tiuserMode:userModeuserMode::muserMode:e uuserMode:seuserMode:rMode:- rtuserModuserMode:e:-useuserMode:rMode:userMode:>userMode:xtimeuuseruseuserMode:rMode:userMode:ModeuuserMode:ususerMouserMode:de:userMode:erMouseruseruserModuserMode:e:MouserMode:de:ModuserMode:e:de:serMode::serModuseususerMode:erModeuserMode::rMode:euserMode::useruseruserMode:Mode:MouserModeuserMode::de:;	uuserMode:serMode:// 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userModeuserMode::usuuserMode:userModeuserModeuseuserMode:rMode:::seuserMode:rMouserMode:useruseuserMode:rMuseruserMode:Mode:ouserMode:de:Mode:ueCommanuserMouserMode:de:useuseruserMode:Mode:uuserMode:suserMode:erModuserMode:e:rModeuseuserMode:rMode::d(rt-userMode:>userMode:uususerModuserModuserMode:e:userMuserModuserMode:e:ode:e:e:ususerModuserMode:e:erMouserMode:duserMouserMode:de:e:rMouserMode:deuserMode:uususerMode:erModuserMouserMode:de:e:seuuserMode:serMode:rMouseruserModuserModeuserMode::e:Mode:deuuseuserMode:rMode:serMode:::userModuseuseuserModeuserMode::rMode:ruseruserMode:userMode:MuserMode:odususerMode:erModeuserMode::e:ModuserMode:e:e:main.userModuserMode:euserMode::uuserMode:seruserModuseruserMode:Mode:e:Mode:cpp:userModeuserMode::		uuuserMouseruserModuserMode:e:MuserMode:ode:de:userModuserMode:e:seuuserMode:serMode:rMode:userMouserModeuserMode::deuserMode::useuserMode:rMode:seruserMuserMode:odeuserModeuseuserMode:rMode:::MuserMode:ouserMode:deuserModuserModuserMode:e:euseuserMode:rMode:::userMode:	rt->q[iuserMouserMode:deuseruserMode:MuserMode:ode::] 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userMouuserMode:serMode:de:userMode:rt-userMouseruseruserMode:deuserMode::ode:duserModuserModeuserMode::e:e:useuserMode:userMode:rModuserMode:e:",rt-useuserModeuserModuseruserMode:Mode:euserMode:::userMode:rMouserModeuserMode::userMode:de:>x[0uuseuserModeuseruserMode:Mode::rMode:suserModuseruserModeuserMode::Mode:e:erMuseruserMode:Mode:oduuserMode:serModeuserMode::useuserMode:rMode:userMode:euseuuserMode:serMode:rMuserMode:ode::useuserMuserMode:odususeuserMode:rMode:ususeruserModeuserMode::Mode:erMode:erMouserMode:de:e:rMouserususerMode:erMode:Mode:de:useruseuserususerMode:erMode:Mode:rMode:MuseuserMode:rMode:ode:useruuseuserModeuserMode::ruserMode:Mode:serModeuserMode::Mode:useuserModuserMode:e:rMouserMode:de:useruserMode:ModuseruserMode:Mode:userMode:userMode:e:userModeuserMode::useususeruseuserMode:rMode:Mode:eususerMode:eruserMode:userMode:Mode:rMouseuseuserModuserMode:e:ruserMode:Mode:rMode:oruserMode:guserMuserMode:ode:userMode:.cuuuserModuseruserMode:Mode:e:serMode:seruseruserMouserMode:de:ModuserMode:euserMode::MoususerMode:eruserMode:ModuseuserModeuuserMode:serMouserMode:de::rMode:e:de:useruserMode:Mode:uuserMode:suserMode:userMode:userModuserMuserMode:ode:e:erModeuserMode::puuserMuserMode:odeuserMode::suserMode:userMode:erMuserMode:ousususerMode:eruserMode:Mode:erMode:de:p:			//			ruseruseruserMode:ModuserMode:e:userMode:MuserMode:userMode:ode:t-userMuserMode:ouserMode:duserMode:e:>xuserMoususeuseruserMode:Mode:rMode:erModeuseruserMode:Mode::dususerMode:erMode:e:[1ususeuseuserMode:rMouserMode:de:rMode:erMuserMode:ode:uususerMode:erMode:serModeuuseruserMode:Mode:serModuserMode:euserMode:::], rt->x[ususerMuserMode:odususerMode:euserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deusuuserMode:serMode:erMode::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruseuserMode:rMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuseruserMode:Mode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuuserMode:serMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseuserMode:ruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMuserMode:ususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuserMode:uuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserMode:userModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[ususerMode:erMuseruserMode:Mode:oduserMode:e:1],userMode: 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rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:MouserMode:de:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserModeuserMode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserMode:ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerMode:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MoususerMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], 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userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:tfuseruseruseruserMode:Mode:Mode:Mode:[i]useruserMode:ModuseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, 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rt-userModuserMode:e:useuserMode:ruuserModeuseruserMode:Mode::seuserMode:rMode:ModeuseruserMode:ModeususeruseruserModeuserMode::Mode:Mode:eruseruserususerMode:erMode:de:useuserMode:ruserMode:Mode:MuserMode:ode:useuserMode:rModuserMode:e:ruseuseruserMode:Mode:rMode:tuseruserMouseruserMode:Mode:de:Mode:->useruserMode:Mode:a0[iuuserModuserMode:e:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = 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rt->x[ususerMuserMode:odususerMode:euserMuserMode:ode:rMuserMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deusuuserMode:serMode:erModuserMode:e::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruseuserMode:rMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuseruserMode:Mode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuuserMode:serMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseuserMode:ruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMuserMode:ususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuserMode:uuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserMode:userModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[ususerMode:erMuseruserMode:Mode:oduserMode:e:1],userMode: 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rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:MouserMode:de:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserModeuserMode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserMode:ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:userMouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MoususerMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:Mode:ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], 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userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:tfuseruseruseruserMode:Mode:Mode:Mode:[i]useruserMode:ModuseuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, 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rt-userModuserMode:e:useuserMode:ruuserModeuseruserMode:Mode::seuserMode:rMode:ModeuseruserMode:ModeususeruseruserModeuserMode::Mode:Mode:eruseruserususerMode:erMode:de:useuserMode:ruserMode:Mode:MuserMode:ode:useuserMode:rModuserMode:e:ruseuseruserMode:Mode:rMode:tuseruserMouseruserMode:Mode:de:Mode:->useruserMode:Mode:a0[iuuserModuserMode:e:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = 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rt->x[ususerMuserMode:odususerMode:euserMuserMode:ode:rMuuserMode:serMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deusuuserMode:serMode:erModuserMode:e::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruseuserMode:rMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuseruserMode:Mode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuuserMode:serMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseuserMode:ruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMuserMode:ususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuserMode:uuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserMode:userModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[ususerMode:erMuseruserMode:Mode:oduserMode:e:1],userMode: 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rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:MouserMode:de:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserModeuserMode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:seruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MoususerMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduseruseuseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:Mode:::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:tfuseruseruseruserMode:Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:serMuseuserMode:ruserMode:Mode:ouserMode:de::f[1userMode:useuuserMode:seuseruseruserMode:Mode:Mode:ruserMode:MouseruserMode:Mode:de:rMode:]useruserMode:Mode:, rt-userModuserMode:e:useuserMode:ruuserModeuseruserMode:Mode::seuserMode:rMode:ModeuseruserMode:ModeususeruseruserModeuserMode::Mode:Mode:eruseruserususerMode:erMode:de:useuserMode:ruserMode:Mode:MuserMode:ode:useuserMode:rModuserMode:e:ruseuseruserMode:Mode:rMode:tuseruserMouseruserMode:Mode:de:Mode:->useruserMode:Mode:a0[iuuserModuserMode:e:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = 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rt->x[ususerMuserMode:odususerMode:euserMuserMode:ode:rMuuserMode:serMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deusuuserMode:serMode:erModuserMode:e::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruseuserMode:rMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuseruserMode:Mode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuuserMode:serMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseuserMode:ruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMuserMode:ususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuserMode:uuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserMode:userModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[ususerMode:erMuseruserMode:Mode:oduserMode:e:1],userMode: 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rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:MouserMode:de:userMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:ode:userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerMode:erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouuserMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruserMode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruserMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:serMuseuserMode:ruserMode:Mode:ouserMode:de::f[1userMode:useuuserMode:seuseruseruserMode:Mode:Mode:ruserMode:MouseruserMode:Mode:de:rMode:]useruserMode:Mode:, rt-userModuserMode:e:useuserMode:ruuserModeuseruserMode:Mode::seuserMode:rMode:ModeuseruserMode:ModeususeruseruserModeuserMode::Mode:Mode:eruseruserususerMode:erMode:de:useuserMode:ruserMode:Mode:MuserMode:ode:useuserMode:rModuserMode:e:ruseuseruserMode:Mode:rMode:tuseruserMouseruserMode:Mode:de:Mode:->useruserMode:Mode:a0[iuuserModuserMode:e:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = 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rt->x[ususerMuserMode:odususerMode:euserMuserMode:ode:rMuuserMode:serMode:odeuseuserMode:ruserMode:Mode::euserModeuseruserMode:ModuserMode:e:::euserMode:rMouserMode:deusuuserMode:serMode:erModuserMode:e::useruseuuserMode:serMode:rMode:MuserMode:ouserMouserMode:de:deuseuserMuserMode:oduseruserMode:Mode:euserMode::userMode:ruseuserMode:rMode:ModuserMode:e::rt->uuserMode:sususerMode:erMode:erMode:useuserModuserModuseruserMode:Mode:e:e:ruserMode:MuseruserModuseruserMode:Mode:e:Mode:oduserModeuserMode::userMode:e:ususerMode:eruseruserMuserMode:ode:userMode:ModeuserMode:userMode::MuseuserMode:rMuuserMode:serMouserMode:de:odususeruserMode:Mode:erMode:e:odeuuserMouserMode:de:serModeuseruserMode:MouserModeuserMode::de:::Mode:orguseuserMode:ruserModuserMouserMode:duserMode:e:e:MuserususeruseruserMode:Mode:Mode:erMode:ModeuserMode::oduserMode:userMouserMode:de:userMuserMode:ususerMode:erMode:ode:euserMode:userMode::.cpp:				userMode:		userMode:useruseruserMode:Mode:Mode:userMode:rtuserMode:-userModuserMode:uuserMode:useuserMode:rMode:suseuserMode:rMode:erMouseuserMode:rMode:duserModuuserMode:serMode:e:e:e:>useruserMode:Mode:userMuuserMode:userModeuserMode::suserMode:eruserModeuseuserMode:rMode::uuserModuserMode:e:serModuserModeuserMode::e:ModuserMode:e:ode:xee[ususerMode:erMuseruserMode:Mode:oduserMode:e:1],userMode: 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rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMode:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMode:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerModeuserMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouuserMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:Mode:erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserModuseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:userMouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:serMuseuserMode:ruserMode:Mode:ouserMode:de::f[1userMode:useuuserMode:seuseruseruserMode:Mode:Mode:ruserMode:MouseruserMode:Mode:de:rMode:]useruserMode:Mode:, rt-userModuserMode:e:useuserMode:ruuserModeuseruserMode:Mode::seuserMode:rMode:ModeuseruserMode:ModeususeruseruserModeuserMode::Mode:Mode:eruseruserususerMode:erMode:de:useuserMode:ruserMode:Mode:MuserMode:ode:useuserMode:rModuserMode:e:ruseuseruserMode:Mode:rMode:tuseruserMouseruserMode:Mode:de:Mode:->useruserMode:Mode:a0[iuuserModuserMode:e:seruserMode:MouserModeuseruserMode:Mode::deuserMode::] = 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userMouserModuserMode:e:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerMode:erMode:userMode::MuserModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:eruserMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMouserMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerModeuserMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouuserMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useususeruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruserMode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserMode:Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:serMuseuserMode:ruserMode:Mode:ouserMode:de::f[1userMode:useuuserMode:seuseruseruserMode:Mode:Mode:ruserMode:MouseruserMode:Mode:de:rMode:]useruserMode:Mode:, 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rt->q[uususerMode:erModeuseruseruserModeuserMode::Mode:Mode::seruserModeuserMode:useruserMouseuserMode:ruserMode:Mode:duserMode:euserMouserMode:de::userMode:MoususerMode:eruseruserMode:Mode:Mode:de::Mode:iususeruseruserMode:Mode:Mode:eruserMoususeruserMode:Mode:erModeuuserMode:serususerMode:erModuserMode:e:ModeuseruseruseuserMode:rMode:Mode:ModuserMode:e:::de:ModuseruserModeuserMode::Mode:e:useuseruserModeuserMode::Mode:rMuserMuserMode:ode:odeuseuserMode:ruuseruseruseuserMode:ruseuserMode:rMode:Mode:Mode:Mode:serModeuserMode::ModuseruserMode:Mode:e::useuseruserMode:Mode:rMouseuserMode:ruserMode:MuseruserMode:Mode:ode:de:usuuseruserMode:ModuserMode:e:suseruserMode:ModuseruserMode:Mode:e:erModeuserMode:ususeruserMode:Mode:eruserMode:Mode::useruseruserMode:Mode:Mode:erModuserMuseruserMode:Mode:ode:e:uuserMode:seruseruseuseruserMode:Mode:rMode:ModeuseruseuserMode:rMode:Mode:::rt->q[i])useuseuseruserMode:ModeuserMode::rModeuserMuseruserMode:Mode:oduserMode:e::rMuserMode:uuseruserMode:Mode:serModuseruseruserMode:ModuserMode:e:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuuserMode:seuseruserMode:Mode:ruserMuserMode:oduseruseruserMode:Mode:Mode:userMode:euseruserMode:Mode:useusususerMode:erMode:erMuseruserMode:Mode:ode:rMode:useruserMode:ModuserMode:e::userMode:MuserMouseruserMode:Mode:de:ode:->tuseruseuserMode:rMode:Mode:f[useuserMode:useuseruserMode:Mode:rMode:rMuserMode:ususeruserMode:Mode:erModeuserMode::ouseruserMode:ModeuserMode::deuserModeuseruserMode:Mode:::i]*rt->tuseuseruseruseruserMode:Mode:Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMuserMode:ouseruserMode:Mode:de:erMode:useruserMode:Mode::fuuseruserMode:ModuserModuseruserMode:Mode:e:e:serMouuseruserMode:ModuserMode:e:serMouserMode:dususeruserMode:Mode:erMode:e:duseruseuserMode:rMode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:oduseruserMode:Mode:e:userModeuseruseuseruserMode:ModeuserMode::rMode:ModeuseruserMode:Mode:::useruseruserModuseruseruserMode:Mode:Mode:euserMode:useruserMode:Mode::ModususerMode:euserMode:ruseruserMode:Mode:ModeususeruseruserMode:Mode:Mode:- 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userMouserModuserMode:e:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouserMode:de:userMouserMode:de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerMode:erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:erususerMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMouserMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerModeuserMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouuserMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:Mode:rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:serMuseuserMode:ruserMode:Mode:ouserMode:de::f[1userMode:useuuserMode:seuseruseruserMode:Mode:Mode:ruserMode:MouseruserMode:Mode:de:rMode:]useruserMode:Mode:, 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userMouserModuserMode:e:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erMode:e:ModuserMode:e:userMode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouserMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerMode:erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMouserMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serMode:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:ususerMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:erususerMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMouserMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerModeuserMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouuserMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouserMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruserMode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:serMuseuserMode:ruserMode:Mode:ouserMode:de::f[1userMode:useuuserMode:seuseruseruserMode:Mode:Mode:ruserMode:MouseruserMode:Mode:de:rMode:]useruserMode:Mode:, 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userMouserModuserMode:e:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserMode:rMode:de:euserMode::ModeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erMode:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouserMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerMode:erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:ode:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fusuuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serModuserMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:ususerMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:erususerMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMouserMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerModeuserMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouuserMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:Mode:seruseruseuseruseruseruserMode:Mode:Mode:Mode:rMode:MouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:Mode:Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:serMuseuserMode:ruserMode:Mode:ouserMode:de::f[1userMode:useuuserMode:seuseruseruserMode:Mode:Mode:ruserMode:MouseruserMode:Mode:de:rMode:]useruserMode:Mode:, 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userMouserModuserMode:e:de:rt-userMouseruserModeuserMode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserMode:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erMode:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouserMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerMode:erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuserMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fususerMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serModuserMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:ususerMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:erususerMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMouserMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerModeuserMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserMode::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouuserMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruserMode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, 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userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:Mode:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:serMuseuserMode:ruserMode:Mode:ouserMode:de::f[1userMode:useuuserMode:seuseruseruserMode:Mode:Mode:ruserMode:MouseruserMode:Mode:de:rMode:]useruserMode:Mode:, 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5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMode::odeuserMode::ModeuserMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserMode:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususerMode:erMode:ususerMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserMode:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erMode:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouserMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerMode:erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruserMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:userMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:userMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fususerMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serModuserMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:ususerMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:erususerMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMouserMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeuserMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerModeuserMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouuserMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:Mode:e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: 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userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:userususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, 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5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMode::odeuserMode::ModeuserMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserMode:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususerMode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserMode:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erMode:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouserMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerMode:erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruseruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:ususerMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:userMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fususerMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serModuserMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:ususerMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:erususerMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMouserMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerModeuserMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouuserMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:ModuseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauserMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, 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5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMode:eruserMode:Mode:Mode:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserMode:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususerMode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserMode:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erMode:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouserMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerMode:erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerMode:erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:ususerMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:userMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fususerMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serModuserMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:ususerMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:erususerMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMouserMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerModeuserMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouuserMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruserMode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:ModuseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruserMode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, 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5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuserMode:e:ModuserMuserMuserMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserMode:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususerMode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserMode:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erMode:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouserMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:deuuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:ususerMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:userMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fususerMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serModuserMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMode:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:ususerMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:erususerMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMouserMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerModeuserMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouuserMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruserMode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:Mode:Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, 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5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.userMode:3*rt-userModeuserMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuserMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserMode:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususerMode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserMode:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erMode:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:userMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:ususerMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:userMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fususerMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serModuserMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:ususerMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:erususerMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMouserMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerModeuserMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouuserMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModeuseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:Mode:>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, 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5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:useuserMode:ruserMode:ModuserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.userMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuserMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserMode:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususerMode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserMode:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serMode:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:ususerMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:userMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>userMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fususerMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serModuserMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:ususerMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:erususerMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMouserMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerModeuserMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:ModeuserMode:userMode::rMode:Mode:MouuserMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruserMode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],userMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:serMuseuserMode:ruserMode:Mode:ouserMode:de::f[1userMode:useuuserMode:seuseruseruserMode:Mode:Mode:ruserMode:MouseruserMode:Mode:de:rMode:]useruserMode:Mode:, 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5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:ode::eruserModuserMode:e:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.userMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuserMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserMode:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususerMode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMode:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:ususerMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:userMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fususerMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serModuserMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:ususerMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:erususerMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMouserMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:e::ususerModeuserModuserMode:e::erMoususerModeuserMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:Mode:MouuserMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:Mode: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgoauseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, 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5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:ode::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.userMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuserMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserMode:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususerMode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:erMuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:ususerMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:userMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fususerMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serModuserMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:ususerMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:erususerMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rMode:MuserMode:ouserMode:deuseruserMode:useruserMouserMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeuserMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:Mode:MouuserMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0],useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruserMode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:serMuseuserMode:ruserMode:Mode:ouserMode:de::f[1userMode:useuuserMode:seuseruseruserMode:Mode:Mode:ruserMode:MouseruserMode:Mode:de:rMode:]useruserMode:Mode:, 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userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:ode::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.userMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuserMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserMode:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMode:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeuseruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:ususerMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:userMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fususerMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serModuserMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:ususerMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->useruserMode:MouseuserMode:rModususerMode:erususerMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouserMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeuserMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:Mode:MouuserMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruserMode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:Mode::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:Mode:Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:serMuseuserMode:ruserMode:Mode:ouserMode:de::f[1userMode:useuuserMode:seuseruseruserMode:Mode:Mode:ruserMode:MouseruserMode:Mode:de:rModeuserMode::]useruserMode:Mode:, rt-userModuserMode:e:ususerMode:euserMode:ruuserModeuseruserMode:Mode::seuseruserMode:Mode:rMode:ModeuseruserMode:ModeususeruseruseuserMode:rModeuserMode::Mode:Mode:eruseruserususerModeuserMode::erMode:de:useuserMode:ruserMode:Mode:MuserMouserMode:de:ode:useuserMode:rModuserMode:e:ruseuseruseuserMode:rMode:Mode:rMode:tuseruserMouseruserMode:ModeuserMode::de:Mode:->useruserMode:Mode:a0[iuuserModuseruserMode:Mode:e:seruserMode:MouserModeuseruserMode:ModuserMode:e::deuserMode::] = 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userMode:rt->q[i]ususeruserMode:Mode:erMuserMode:ode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseuserMode:ruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::ouserMode:deuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:odususerMode:eruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuseruserMode:Mode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseuserMode:ruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::euserMode::seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeususerMode:eruserMode:Mode:::Mode:userMode:/(rt->tfususeruserModeuserMode::Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuserususerMode:erModuuseruserMode:Mode:seuseruseruseruseuserMode:rModuserMode:e:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::useruserMode:Mode:euuseruserMode:Mode:serMode::Mode::[iuseruserModeuserMode::ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserModeuserMode:::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserModuserMode:e:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::userMode:serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeuserMode:ruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rMuserMode:odeuserMode:usuuseruserMode:Mode:serMode:eruseruserModuserMode:e:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuuserMode:serModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseuserMode:ruserMode:Mode:de:rMouseruseruserMode:ModuserMode:e:MouserMode:de:de:seususerMuseruserMode:ModuserMode:e:Mode::,rt->ad_vouususerModuseruserMode:Mode:e:erMode:suserModuserMode:e:erususerMode:euseruserMode:Mode:rMode:MuserMode:odeususerModeuserMode::eruserMode:ususeruserMouserMode:deuserModeuseruseuserMode:rModuserMode:e:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseuseruserMode:Mode:ruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuseuserMode:rModeuserMode::rMode::ruserModeuseruserModeuseuserMode:ruserModuserMode:e:Mode::MouseruserMode:MuserMode:ode:deuserMode:::MuserMode:odeuserMode:uuserMode:serModuseruseuserMode:rMode:ModeuserMode::e:::ageuseruserMode:ModuserMode:euserMouserMode:de::userMode:[0]userModeuseruseruseuserMode:rMode:Mode:Mode::);
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(rt->ususeuserModeuserMode::rMode:erEusuuserModeuserModeususerMode:euserMode:ruserMode:Mode:::serMouserMode:duserMode:e:erMouserMouserMode:de:deuserMode::xit userMode:!=usususeruseuserMode:rMode:ModeuseuserMode:rMode::erModeuserModeuserMode:::euseruserMode:useruserMode:ModeuserMode::Mode:ruseruseruserMode:Mode:Mode:MuserMode: 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uuserMode:seuseruserModeuserMode::uuserMode:serMode:ModuserMode:e:userModeuserMode::rMuseruseruserMode:Mode:Mode:ouserMode:duserMode:e:ruserMode:tuserMouserMode:de:-userModeuserMode::>userMode:uususerModeuserMode::euuuserMode:seruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:useruserMode:Mode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserModeuserMode::::MouserMode:deuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:userMode:anuserModeuseruserMode:Mode::duserMuseruseruserMode:Mode:ModuserMode:e:ouserMode:deuseruserMode:Mode:useuserMode:rModeuserMode:::(userMode:rt->uuserModususerMode:erModeuserMode::euseruserMode:MouserMode:de::uuserMode:userMode:suserModuserMode:e:erModuserModuserMode:euserMode::userModuserMode:e:e:.cpp:	ususeruserMouserMode:duserMode:e:Mode:eruuserMode:serMode:Mode:userModeuserMode::		userMuseususerMode:erMode:rMode:ouserMuserMode:ode:deuuseruserModeuserMode::MouserMode:duseuserMode:rMode:e:suserMode:erMouserMode:de:userMode::		userMode:iuserMode:f(useruseuseuseruserMode:Mode:rususeuseruserModuserMode:e:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:oduserMode:e:rMouserMode:de:MuseruserMode:MuserModeususerMode:erModuserMode:e::ode:odeuserMouserMode:duserMode:e:ususerModeuserMode::eruserMode:MuserMode:ouserMouserMode:de:de::rt->muserMode:uuuserMode:serMode:useuserMode:ruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuseuserMode:rMode:::rMode:ePauserMuserMode:ode:ramuseuserMode:rModeuserMode::eters(rt->a0useruserMode:MoususeuserModeuserModuserMode:e::rModeuserMode::euserMode:rMode:deuserMuuserModeuserMode::suserMode:erModeuserMuserMode:ode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserMode:duserMode:e:euserMode:::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euuserMode:serMuserMode:ode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:erMode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:useuseruserModuserMode:e:ModuserMode:e:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serMuserModeuserMode::oduseruseuuseuserMode:rMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMouserMode:de::de:MuuuserMode:serMuserMode:ode:seuserMode:rMode:ode:e:ususerMode:erMode:3useuserMode:rMode:,rtuseruseruseruserModuseruserMode:Mode:e:Mode:ModuserMode:e:userMode:Mode:userMode:-userMouserModeuserMode::de:>tf, 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userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:ode::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.userMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuserMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserMode:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserMode:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:ususerMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:userMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fususerMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serModuserMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:serMode:useuserMode:rMode:userMode:ususerMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususerMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouserMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeuserMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:Mode:MouuserMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:Mode:erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruserMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:Mode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:serMuseuserMode:ruserMode:Mode:ouserMode:de::f[1userMode:useuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMode:MouseruserMode:Mode:de:rModeuserMode::]useruserMode:Mode:, rt-userModuserMode:e:ususerMode:euserMode:ruuserModeuseruserMode:Mode::seuseruserMode:Mode:rMode:ModeuseruserMode:ModeususeruseruseuserMode:rModeuserMode::Mode:Mode:eruseruserususerModeuserMode::erMode:de:useuserMode:ruserMode:Mode:MuserMouserMode:de:ode:useuserMode:rModuserMode:e:ruseuseruseuserMode:rMode:Mode:rMode:tuseruserMouseruserMode:ModeuserMode::de:Mode:->useruserMode:Mode:a0[iuuserModuseruserMode:Mode:e:seruserMode:MouserModeuseruserMode:ModuserMode:e::deuserMode::] = 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userMode:rt->q[i]ususeruserMode:Mode:erMuserMode:ode:usuuseruserMode:ModuserMode:e:serMode:erModeuseuseuserMode:ruserMode:Mode:rMuserModeuseruseuserMode:rMode:Mode::ouserMode:deuseuseruseuseuseruserMode:Mode:rMode:rMuserMode:odususerMode:eruserMode:Mode:e:Mode:rMode:::)uuseruserMode:ModeuseruserMode:Mode::suserMode:useruserMode:Mode:eruuseuserMode:rMuseuserMode:ruseruserMode:Mode:Mode:oduserModeuseruserMode:Mode::euserMode::seuserMode:rMuserMode:ouseruserMode:Mode:deuserModeususerMode:eruserMode:Mode:::Mode:userMode:/(rt->tfususeruserModeuserMode::Mode:erMuserModuseruserMode:ModuserMode:e:e:odeuserususerMode:erModuuseruserMode:Mode:seuseruseruseruseuserMode:rModuserMode:e:Mode:Mode:Mode:rModeususeruserMode:Mode:erMode::useruserMode:Mode:euuseruserMode:Mode:serMode::Mode::[iuseruserModeuserMode::ModeuserMode::]*rt-userMuseruserMode:Mode:odeuserModeuserMode:::>useuseruseruserMode:Mode:Mode:rMode:tfususeruserModuserMode:e:Mode:euuserModeuserMouserMode:duseruserMode:Mode:e::userMode:serModeuseruserMode:Mode::rMode:userMode:[i]*rt->ususeuserMode:ruserMode:Mode:erMode:useuseruserMode:ModuserMode:e:rMuserMode:odeuserMode:usuuseruserMode:Mode:serMode:eruseruserModuserMode:e:ModuserMode:e:userMode:Mode::tuuseruserMode:Mode:seuuserMode:serModeuseruserMode:ModuserMode:e::rMode:uuseuserMouseuserMode:ruserMode:Mode:de:rMouseruserususerMode:erMode:ModuserMode:e:MouserMode:de:de:seususerMuseruserMode:ModuserMode:e:Mode::,rt->ad_vouususerModuseruserMode:Mode:e:erMode:suserModuserMode:e:erususerMode:euseruserMode:Mode:rMode:MuserMode:odeususerModeuserMode::eruserMode:ususeruserMouserMode:deuserModeuseruseuserMode:rModuserMode:e:Mode:::MuserMode:ode:erMode:userMode:ModuserMode:e::ltuseuseruserMode:Mode:ruserMode:MuseruserModeuserMode::Mode:odeuseuserModeuseuseuserMode:rModeuserMode::rMode::ruserModeuseruserModeuseuserMode:ruserModuserMode:e:Mode::MouseruserMode:MuserMode:ode:deuserMode:::MuserMode:odeuserMode:uuserMode:serModuseruseuserMode:rMode:ModeuserMode::e:::ageuseruserMode:ModuserMode:euserMouserMode:de::userMode:[0]userModeuseruseruseuserMode:rMode:Mode:Mode::);
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(rt->ususeuserModeuserMode::rMode:erEusuuserModeuserModeususerMode:euserMode:ruserMode:Mode:::serMouserMode:duserMode:e:erMouserMouserMode:de:deuserMode::xit userMode:!=usususeruseuserMode:rMode:ModeuseuserMode:rMode::erModeuserModeuserMode:::euseruserMode:useruserMode:ModeuserMode::Mode:ruseruseruserMode:Mode:MouserMode:de:MuserMode: 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userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:ode::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.userMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuserMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserMode:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ode:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:serMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:ususerMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:userMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fususerMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:serMode:Mode:userMode:userMode:serModuserMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususerMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususerMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouserMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeuserMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:Mode:MouuserMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeususeruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModuseuseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruserModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, 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rt-userModuserMode:e:ususerMode:euserMode:ruuserModeuseruserMode:Mode::seuseruserMode:Mode:rMode:ModeuseruserMode:ModeususeruseruseuserMode:rModeuserMode::Mode:Mode:eruseruserususerModeuserMode::erMode:de:useuserMode:ruserMode:Mode:MuserMouserMode:de:ode:useuserMode:rModuserMode:e:ruseuseruseuserMode:rMode:Mode:rMode:tuseruserMouseruserMode:ModeuserMode::de:Mode:->useruserMode:Mode:a0[iuuserModuseruserMode:Mode:e:seruserMode:MouserModeuseruserMode:ModuserMode:e::deuserMode::] = 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userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:ode::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.userMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuuserMode:serMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserMode:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:Mode:userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMode:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:ususerMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:userMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userModeususerMode:erModeususerMode:erMode:::rt->fususerMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuserMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususerMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususerMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouserMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeuserMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:Mode:MouuserMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruserMode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuserMode::Mode:erMode:e:ModeuuseuserMode:rMode:seuserMode:rMuseuserMode:ruserMode:Mode:ouserMode:de::f[userMode:1userMode:useuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMode:MouseruserMode:Mode:de:rModeuserMode::]useruserMode:Mode:, rt-userModuserMode:e:ususerMode:euserMode:ruuserModeuseruserMode:Mode::seuseruserMode:Mode:rMode:ModeuseruserMode:ModeususeruseruseuserMode:rModeuserMode::Mode:Mode:eruseruserususerModeuserMode::erMode:de:useuserMode:ruserMode:Mode:MuserMouserMode:de:ode:useuserMode:rModuserMode:e:ruseuseruseuserMode:rMode:Mode:rMode:tuseruserMouseruserMode:ModeuserMode::de:Mode:->useruserMode:Mode:a0[iuuserModuseruserMode:Mode:e:seruserMode:MouserModeuseruserMode:ModuserMode:e::deuserMode::] = 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uuserMode:seuseruserModeuserMode::uuserMode:serMode:ModuserMode:e:userModeuserMode::rMuseruseruserMode:Mode:Mode:ouserMode:duserMode:e:ruserMode:tuserMouserMode:de:-userModeuserMode::>userMode:uususerModeuserMode::euuuserMode:seruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:useruserMode:Mode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserModeuserMode::::MouserMode:deuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:userMode:anuserModeuseruserMode:Mode::duserMuseruseruserMode:Mode:ModuserMode:e:ouserMode:deuseruserMode:Mode:useuserMode:rModeuserMode:::(userMode:rt->uuserModususerMode:erModeuserMode::euseruserMode:MouserMode:de::uuserMode:userMode:suserModuserMode:e:erModuserModuserModeuserMode::euserMode::userModuserMode:e:e:.cpp:	ususeruserMouserMode:duserMode:e:Mode:eruususerMode:erMode:serMode:Mode:userModeuserMode::		userMuseususerMode:erMode:rMode:ouserMuseuserMode:rMode:ode:deuuseruserModeuserMode::MouserMode:duseuserMode:rMode:e:suserMode:erMouserMode:de:userMode::		userMode:iuserMode:f(useruseuseuseruserMode:Mode:rususeuseruserModuserMode:e:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:oduserMode:e:rMouserMode:de:MuseruserMode:MuserModeususerMode:erModuserMode:e::ode:odeuserMouserMode:duserMode:e:ususerModeuserMode::eruserMode:MuserMode:ouserMouserMode:de:de::rt->muserMode:uuuserMode:serMode:useuserMode:ruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuseuserMode:rMode:::rMode:ePauserMuserMode:ode:ramuseuserMode:rModeuserMode::eters(rt->a0useruserMode:MoususeuserModeuserModuserMode:e::rModeuserMode::euserMode:rMode:deuserMuuserModeuserMode::suserMode:erModeuserMuserMode:ode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserMode:duserMode:e:euserMode:::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euuserMode:serMuserMode:ode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:erMode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:useuseruserModuserMode:e:ModuserMode:e:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serMuserModeuserMode::oduseruseuuseuserMode:rMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMouserMode:de::de:MuuuserMode:serMuserMode:ode:seuserMode:rMode:ode:e:ususerMode:erMode:3useuserMode:rMode:,rtuseruseruseruserModuseruserMode:Mode:e:Mode:ModuserMode:e:userMode:Mode:userMode:-userMouserModeuserMode::de:>tf, 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userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:ode::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.uuserMode:serMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuuserMode:serMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserMode:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserMode:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModeuserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:ususerMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMode:ode:ode:MuserMode:ode:cuserMode:ppuserMode:userMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususerMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuserMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususerMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususerMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouserMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeuserMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:Mode:MouuseuserMode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:Mode:seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:Mode:erMode:useuseuseruseruserMode:Mode:Mode:ruserMode:Mode:rMouseruseruserMode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruserMode:Mode:Mode:ruserususerMode:erModuserMode:e:Mode:ModuseruserMode:Mode:e:euserMode:ususerMode:erMuserMode:ode:rModususeruserModeuseruserMode:Mode::Mode:erMode:e:ModeuuseuserMode:rMode:seuserMode:rMuseuserMode:ruserMode:Mode:ouserMode:de::f[userMode:1userMode:useuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMode:MouseruserMode:Mode:de:rModeuserMode::]useruserMode:Mode:, 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rt-userModuseruseruserMode:Mode:Mode:e:userModeuseuserModeuserMode::ruserMode:MuseruserMode:Mode:oduserMode:userMuserMode:ode:euserMode:usuuserMode:serMode:erMode:::uususerMode:erMuserMode:ode:seruseruseuserMode:rMode:MouserMode:de:ModuserMode:e:useuserMouserMouserMode:de:de:userMode:ruuserMouserModeuserMode::de:seuserMouseruserModeuserModeuserMode:::Mode:de:rMode:MouseuseuserModuserMode:euserMode::rMode:ruserMode:Mode:de:userususerMode:euserMode:ruserMode:MouserMode:de:Mode:uususerModeuserMode::erModeuserMode::suseruserMode:Mode:useruuseuserMode:rMode:serModuseruserMode:ModeuserModeuserMode:::euserMode::userMode:ModuuserMode:serMode:e:eruususerMode:erMode:seruserMuseruseruserModeuserMode::ModuseruserMode:Mode:e:Mode:ode:ModeuserMouserModuserMode:e:de::Mode:useuseruseususerModuserMode:euseruserMode:Mode::euseruserMode:Mode:Mode:MuserMouserMode:de:odeuserMouserMode:de::userModuseuserMode:rModeuserMode::e:rt->ususerususerMode:euseruseuseuserMode:rMode:rMode:Mode:rModeuuserMode:serModuserModeuserMode::e::Mode:erEuuseruserMode:Mode:seuserModeuserMode::rModuseuserMode:rMouseruserModeuserModeuserModeuserMode::::Mode:de:e:n", uuserMode:seuseruserModeuserMode::uuserMode:serMode:ModuserMode:e:userModeuserMode::rMuseruseruserMode:Mode:Mode:ouserMode:duserMode:e:ruserMode:tuserMouserMode:de:-userModeuserMode::>userMode:uususerModeuserMode::euuuserMode:seruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:useruserMode:Mode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserModeuserMode::::MouserMode:deuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:userMode:anuserModeuseruserMode:Mode::duserMuseruseruserMode:Mode:ModuserMode:e:ouserMode:deuseruserMode:Mode:useuserMode:rModeuserMode:::(userMode:rt->uuserModususerMode:erModeuserMode::euseruuserMode:serMode:MouserMode:de::uuserMode:userMode:suserModuserMode:e:erModuserModuserModeuserMode::euserMode::userModuserMode:e:e:.cpp:	ususeruserMouserMode:duserMode:e:Mode:eruususerMode:erMode:serMode:Mode:userModeuserMode::		userMuseususerMode:erMode:rMode:ouserMuseuserMode:rMode:ode:deuuseruserModeuserMode::MouserMode:duseuserMode:rMode:e:suserMode:erMouserMode:de:userMode::		userMode:iuserMode:f(useruseuseuseruserMode:Mode:rususeuseruserModuserMode:e:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:oduserMode:e:rMouserMode:de:MuseruserMode:MuserModeususerMode:erModuserMode:e::ode:odeuserMouserMode:duserMode:e:ususerModeuserMode::eruserMode:MuserMode:ouserMouserMode:de:de::rt->muserMode:uuuserMode:serMode:useuserMode:ruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuseuserMode:rMode:::rMode:ePauserMuserMode:ode:ramuseuserMode:rModeuserMode::eters(rt->a0useruserMode:MoususeuserModeuserModuserMode:e::rModeuserMode::euserMode:rMode:deuserMuuserModeuserMode::suserMode:erModeuserMuserMode:ode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserMode:duserMode:e:euserMode:::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euuserMode:serMuserMode:ode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:erMode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:useuseruserModuserMode:e:ModuserMode:e:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serMuserModeuserMode::oduseruseuuseuserMode:rMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMouserMode:de::de:MuuuserMode:serMuserMode:ode:seuserMode:rMode:ode:e:ususerMode:erMode:3useuserMode:rMode:,rtuseruseruseruserModuseruserMode:Mode:e:Mode:ModuserMode:e:userMode:Mode:userMode:-userMouserModeuserMode::de:>tf, 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57.useruserMode:Mode:uuserMode:useruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMususerMode:erMode:ode:serModuserMode:userModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserModeuserMode::serMode:,userususerMode:erMode:Mode:useruserMode:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:ode::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:userMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.uuserMode:serMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuuserMode:serMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserMode:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erMode:MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserMode:e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModeuserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:serMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuserMode:userMuserMode:ode:rMode:ModuserMode:ususerMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:userMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususerMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuserMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususerMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususerMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouserMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeuseuserMode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:Mode:MouuseuserMode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModeuseruserMode:Mode::odeuuserMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], 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userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 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uuserMode:seuseruserModeuserMode::uuserMode:serMode:ModuserMode:e:userModeuserMode::rMuseruseruserMode:Mode:Mode:ouserMode:duserMode:e:ruserMode:tuserMouserMode:de:-userModeuserMode::>userMode:uususerModeuserMode::euuuserMode:seruseuserMode:rMode:Mode:serModususeruserModeuserMode::Mode:erMode:useruserMode:Mode:e:MuuserMode:suseususerMode:erMode:rModuseruserModeuserModeuserModeuserMode::::MouserMode:deuserMode::e:erMode:ode::ususerMode:erMode:Mode)userMode:userMode:anuserModeuseruserMode:Mode::duserMuseruseruserMode:Mode:ModuserMode:e:ouserMode:deuseruserMode:Mode:ususerMode:euserMode:rModeuserMode:::(userMode:rt->uuserModususerMode:erModeuserMode::euseruuserMode:serMode:MouserMode:de::uuserMode:userMode:suserModuserMode:e:erModuserModuserModeuserMode::euserMode::userModuserMode:e:e:.cpp:	ususeruserMouserMode:duserMode:e:Mode:eruususerMode:erMode:serMode:Mode:userModeuserMode::		userMuseususerMode:erMode:rMode:ouserMuseuserMode:rMode:ode:deuuseruserModeuserMode::MouserMode:duseuserMode:rMode:e:suserMode:erMouserMode:de:userMode::		userMode:iuserMode:f(useruseuseuseruserMode:Mode:rususeuseruserModuserMode:e:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:oduserMode:e:rMouserMode:de:MuseruserMode:MuserModeususerMode:erModuserMode:e::ode:odeuserMouserMode:duserMode:e:ususerModeuserMode::eruserMode:MuserMode:ouserMouserMode:de:de::rt->muserMode:uuuserMode:serMode:useuserMode:ruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuseuserMode:rMode:::rMode:ePauserMuserMode:ode:ramuseuserMode:rModeuserMode::eters(rt->a0useruserMode:MoususeuserModeuserModuserMode:e::rModeuserMode::euserMode:rMode:deuserMuuserModeuserMode::suserMode:erModeuserMuserMode:ode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserMode:duserMode:e:euserMode:::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euuserMode:serMuserMode:ode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:erMode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:useuseruserModuserMode:e:ModuserMode:e:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:de:serMuserModeuserMode::oduseruseuuseuserMode:rMode:serMouserMode:de:rMouseruserModuserMode:e:ModeuserMouserMode:de::de:MuuuserMode:serMuserMode:ode:seuserMode:rMode:ode:e:ususerMode:erMode:3useuserMode:rMode:,rtuseruseruseruserModuseruserMode:Mode:e:Mode:ModuserMode:e:userMode:Mode:userMode:-userMouserModeuserMode::de:>tf, 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57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erModeuserMode:::q[4uuserMode:suserMuserMode:ode:eruseruserMode:Mode:Mode:]ususerMode:euserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:userMode:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:oduserMode:e:Mode:serMouserMode:userMode:de:erMouseuserMode:rModuserMode:e:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuuserMode:serMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMususerModuserModuserMode:e:euserMode::erMouseuserMode:rMode:de:oduseruserMode:Mode:e:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MousususerMode:erMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:serMode:e:userMode:userMuserModuseuserMode:rMode:e:ouseruserMode:Mode:ususeuserMode:ruseruserMode:ModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserMouserMode:deuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMouserMode:de:erModuserModeuserMode:uuserMode:serMouserMode:de::e:ususerMode:erMode:useruseuserMode:rMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:userMode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duseruserMode:ModuserModuserMode:e:e:e:Mode:[ususerMode:erMode:ususerMode:uuserMode:serMuserMode:userMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruuserMode:seruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMuserMode:ode:rt->quuserMode:seuuserModeuserMode::serMode:rususerMode:eruserMode:Mode:usuuserMode:serMuserMode:ode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserModuserMode:e:Mode::Mode:userModeuserMode::_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userMode:uuserMode:serModuserMode:e:de:duserMusuuserMode:sususerMode:erMode:erMode:euserMode:rModuseruserMode:Mode:e:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMouserMode:de: useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserModeuserMode::Mode:erMouserMode:de:userModeususerMode:eruserMode:Mode::*rtuserMuseuserMode:rMode:ode:->uuserModeuseruserModuserMode:e:ModuserMode:e::seuserMode:ruserMouserMode:de:MouserModeuserMode::de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:userMode:MuserMode:ode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::userMode:eruseruserMode:Mode:Mode:ModuseruserMode:Mode:ususerModuserMode:e:erMouserMode:de:e:useususerMode:erMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuuserMode:serMode:rMuserMode:ode:serMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuuserMode:serMode:userModuserMode:e:userMouserMode:de:serModuserMode:e:useuserMode:userModuserMode:e:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserModuserMode:e:Mode:eususerMode:erMode:userMode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erModuserMode:e:ModeuuserMouserMode:deuserModeuserMode:::seruserMode:Mode::MuserMode:userMode:oduserMode:userModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMuserMode:ode:MouseruserMode:Mode:de:seususerMode:erMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMouserMode:de:ouserModuuserMode:serMode:e:deuserModeuserMode::userModuseruserMode:Mode:e::MuseuserMuseuserMode:rMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMuserMode:ode:euserMuserMode:ode::es[3],uuserMode:serMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeususerMode:erMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuseuserMode:rMode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMuserMode:ode:ModuseuserMode:rMode:e:de:>userMode:q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouseruserMode:Mode:de:Mode::e:ususerMode:eruserMode:ModeususerMode:eruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruseruserMode:Mode:MususerMouserMuserMode:odeuserMode::de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerModuserMode:e:erMode:rMode:de:ouseruserMode:ModuserMode:e:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serMode:serModeuserMuserMode:oduserMode:userMode:e::serModuserMode:euserMode:useuserMode:rMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:		userMode:		userMode:userMode:57.3*ruserMode:tuserMode:->duserMode:q[userMode:0userMode:userModeuserMode::],uuseruserMuserMode:ode:MuserMususerMode:erMode:ode:ode:serMode: 57.useruserMode:Mode:uuserMode:useruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMususerMode:erMode:ode:serModuserMode:userModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserModeuserMode::serMode:,userususerMode:erMode:Mode:useruserMode:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:oduserMode:e::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:userMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.uuserMode:serMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuuserMode:serMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuserMode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserMode:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserMode:e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModeuserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MuserMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuserMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususerMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:userMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususerMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuserMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususerMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususerMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouseuserMode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeuseuserMode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:Mode:MouuseuserMode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = 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userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::userModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususerMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:userMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususerMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuserMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususerMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususeuserMode:rMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouseuserMode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeuseuserMode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:Mode:MouuseuserMode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:Mode:e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usususeruserMode:Mode:erModuserMode:e:eruseruserMode:Mode:userMouserModeuseruseruserMode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseruseruserMode:Mode:Mode:de:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserMode:rModuserMode:e:serMuseruserMode:Mode:ode::0], rt->tuseuseruserMode:Mode:rususeuseruseruseuserMode:rMode:Mode:Mode:ruserususerMode:erModuserModeuserMode::e:Mode:ModuseruserMode:Mode:e:euserMode:usususerMode:erMode:erMuserMode:ode:rModususeruserModeuseruserMode:Mode::Mode:erMode:e:ModeuuseuserMode:rMode:seuserMode:rMuseuserMode:ruserMode:Mode:ouserMode:de::f[userMode:1userMode:useuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMode:MouseruserMode:Mode:de:rModeuserMode::]useruserMode:Mode:, 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useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserModeuserMode::Mode:erMouserMode:de:userModeususerMode:eruserMode:Mode::*rtuserMuseuserMode:rMode:ode:->uuserModeuseruserModuserMode:e:ModuserMode:e::seuserMode:ruserMouserMode:de:MouserModeuserMode::de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:userMode:MuserMode:ode:Mode:de:s[2],uuserMode:suserMode:erususerModeuserMode::userMode:eruseruserMode:Mode:Mode:ModuseruserMode:Mode:ususerModuserMode:e:erMouserMode:de:e:useususerMode:erMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuuserMode:serMode:rMuserMode:ode:serMode:userMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuuserMode:serMode:userModuserMode:e:userMouserMode:de:serModuserMode:e:useuserMode:userModuserMode:e:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserModuserMode:e:Mode:eususerMode:erMode:userMuserMode:ode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erModuserMode:e:ModeuuserMouserMode:deuserModeuserMode:::seruserMode:Mode::MuserMode:userMode:oduserMode:userModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMuserMode:ode:MouseruserMode:Mode:de:seususerMode:erMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMouserMode:de:ouserModuuserMode:serMode:e:deuserModeuserMode::userModuseruserMode:Mode:e::MuseuserMuseuserMode:rMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMuserMode:ode:euserMuserMode:ode::es[3],uuserMode:serMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeususerMode:erMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuseuserMode:rMode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMuserMode:ode:ModuseuserMode:rMode:e:de:>userMode:q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouseruserMode:Mode:de:Mode::e:ususerMode:eruserMode:ModeususerMode:eruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruseruserMode:Mode:MususerMouserMuserMode:odeuserMode::de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerModuserMode:e:erMode:rMode:de:ouseruserMode:ModuserMode:e:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serMode:serModeuserMuserMode:oduserMode:userMode:e::serModuserMode:euserMode:useuserMode:rMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:		userMode:		userMode:userMode:57.3*ruserMode:tuserMode:->duserMode:q[userMode:0userMode:userModeuserMode::],uuseruserMuserMode:ode:MuserMususerMode:erMode:ouserMode:de:ode:serMode: 57.useruserMode:Mode:uuserMode:useruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMususerMode:erMode:ode:serModuserMode:userModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserModeuserMode::serMode:,userususerMode:erMode:MuserMode:ode:useruserMode:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:oduserMode:e::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:userMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.uuserMode:serMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuseuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuuserMode:serMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuseruserMode:Mode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserModuserMode:e:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserMode:e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModeuserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMode:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuserMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		userMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususerMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:userMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususerMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuserMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususeuserMode:rMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususeuserMode:rMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouseuserMode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeuseuserMode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:Mode:MouuseuserMode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = 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userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserModuseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: 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rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususerMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:userMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususerMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususeuserMode:rMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususeuserMode:rMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouseuserMode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeuseuserMode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:Mode:MouuseuserMode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruserMode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, 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rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:Mode:Mode:Mode::ruseuserModeuseruseruserMode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::Mode:e:erMuserMode:odeuserMode:ususerModeuseuserMode:ruserMode:Mode::erMode::ModeuuseuserModeuserMode::rModuserMode:e:serMuseruserMode:Mode:ode::0]userMode:, rt->tuseuseruserMode:Mode:rususeuseruseruseuserMode:rMode:Mode:Mode:ruserususerMode:erModuserModeuserMode::e:Mode:ModuseruserMode:Mode:e:euserMode:usususerMode:erMode:erMuserMode:ode:rModususeruserModeuseruserMode:Mode::Mode:erMode:e:ModeuuseuserMode:rMode:seuserMode:rMuseuserMode:ruserMode:Mode:ouserMode:de::f[userMode:1userMode:useuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMode:MouseruserMode:Mode:de:rModeuserMode::]useruserMode:Mode:, 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5uuserMode:suseuserMode:rModuserMode:e:userMode:eruuserMode:seruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMuserMode:ode:rt->quuserMode:seuuserModeuserMode::serMode:rususerMode:eruserMode:Mode:usuuserMode:serMuserMode:ode:userModeuserMouserMode:deuserMode:::erModeuuserMode:serMode:useruserModuserMode:e:Mode::Mode:userModeuserMode::_desuserMode:[1usususerMode:userMode:erMode:erMoususerMode:erMouserMode:userMode:uuserMode:serModuserMode:e:de:duserMusuuserMode:sususerMode:erMode:erMode:euserMode:rModuseruserMode:Mode:e:odeuseruserModeuserMode::MuserMode:odeuserMode:::e:],userMouserMode:de: useruserMode:uuserMode:serMode:MoususerMode:erMode:de:userMode:57.3uuserMode:suseruserModeuserMode::Mode:erMouserMode:de:userModeuuserMode:suserMode:eruserMode:Mode::*rtuserMuseuserMode:rMode:ode:->uuserModeuseruserModuserMode:e:ModuserMode:e::seuserMode:ruserMouserMode:de:MouserModeuserMode::de:quserMode:_userMode:deusususerMode:erMode:erMouuserMouserMode:de:ususerMode:erMode:seruseruserMode:userMode:MuserMode:ode:Mode:de:userMode:s[2],uuserMode:suserMode:erususerModeuserMode::userMode:eruseruserMode:Mode:Mode:ModuseruserMode:Mode:ususerModuserMode:e:erMouserMode:de:e:useususerMode:erMode:rMode:userMode:useruuuserMode:serModuseruseuuserMode:serMode:rMode:MuserMode:ode:e:useuuserMode:serMode:rMuserMode:ode:serMode:userMode:userMode:userMuserMode:ode:ModeuserMode::uuserMode:seruuuserMode:serMode:userModuserMode:e:userMouserMode:de:serModuserMode:e:useuserMode:userModuserMode:e:rMode:Mode:useruserMode:ususerMouserMode:de:erMode:uuuserMode:userMode:sususerMode:eruserModuserMode:e:Mode:eususerMode:erMode:userMuserMode:ode:userMode:rMode:serususerModuserMode:e:userModeuserMode::erModuserMode:e:ModeuuserMouserMode:deuserModeuserMode:::seruserMode:Mode::MuserMode:userMode:oduserMode:userModuserMode:e:userMode:e:userMode:useuuserMode:serMode:userMode:ruseruuseruserMuserMode:ode:MouseruserMode:Mode:de:seususerMode:erMode:userMouserMode:de:userModuserMode:e:rModuserMode:e:MususerMode:erMouserMode:de:ouserModuuserMode:serMode:e:deuserModeuserMode::userModuseruserMode:Mode:e::MuseuserMuseuserMode:rMode:ouserMode:de:rMuserMode:ode:oduserMode:e:t->q_duserModuserMuserMode:ode:euserMuserMode:ode::es[3],uuserMode:serMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeususerMode:erMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuseuserMode:rMode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMuserMode:ode:ModuseuserMode:rMode:e:de:>userMode:q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouseruserMode:Mode:de:Mode::e:ususerMode:eruserMode:ModeususerMode:eruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruseruserMode:Mode:MususerMode:userMouserMuserMode:odeuserMode::de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerModuserMode:e:erMode:rMode:de:ouseruserMode:ModuserMode:e:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serMode:serModeuserMuserMode:oduserMode:userMode:e::serMouserMode:duserMode:euserMode:useuserMode:rMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:		userMode:		userMode:userMode:57.3*ruserMode:tuserMode:->duserMode:q[userMode:0userMode:userModeuserMode::],uuseruserMuserMode:ode:MuserMususerMode:erMode:ouserMode:de:ode:serMode: 57.useruserMode:Mode:uuserMode:useruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMususerMode:erMode:ode:serModuserMode:userModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserModeuserMode::serMode:,userususerMode:erMode:MuserMode:ode:useruserMode:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:oduserMode:e::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userMode:deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:userMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serMode:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.uuserMode:serMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuserMode:useuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuuserMode:serMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseuserMode:ruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuseruserMode:Mode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserModuserMode:e:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuserMode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserMode:e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserMode:uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModeuserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:serMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::userMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususerMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:userMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususeuserMode:rMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususeuserMode:rMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouseuserMode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeuseuserMode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:Mode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:Mode:Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: 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rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususerMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususeuserMode:rMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususeuserMode:rMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouseuserMode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeuseuseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:Mode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: 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rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:e:e:userMuseruseruserMode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:de:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:erususerususerMode:erMode:ModuseruserModeuserMode::ModuserMode:e:e:erMuserMode:odeuserMode:ususerModeuseuseruserMode:Mode:ruserMode:Mode::erMode::ModeuuseuserModeuserMode::rModuserMode:e:serMuseruserMode:Mode:ode::0]userMode:, rt->tuseuseruserMode:Mode:rususeuseruseruseuserMode:rMode:Mode:Mode:ruserususerMode:erModuserModeuserMode::e:Mode:ModuseruserMode:Mode:e:euserMode:usususerMode:erMode:erMuserMode:ode:rModususeruserModeuseruserMode:Mode::Mode:erMode:e:ModeuuseuserMode:rMode:seuserMode:rMuseuserMode:ruserMode:Mode:ouserMode:de::f[userMode:1userMode:useuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMode:MouseruserMode:Mode:de:rModeuserMode::]useruserMode:Mode:, 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useruserMode:ModuserMode:e:5useruserMode:ModeususerMode:erMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuseuserMode:rMode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMuserMode:ode:ModuuserMode:seuserMode:rMode:e:de:>userMode:q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouseruserMode:Mode:de:Mode::e:ususerMode:eruserMode:ModeususerMode:eruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruseruserMode:Mode:MususerMode:userMouserMuserMode:odeuserMode::de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerModuserMode:e:erMode:rMode:de:ouseruserMode:ModuserMode:e:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serMode:serModeuserMuserMode:oduserMode:userMode:e::serMouserMode:duserMode:euserMode:useuserMode:rMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:		userMode:		userMode:userMode:57.3*ruserMode:tuserMode:->duserMode:q[userMode:0userMode:userModeuserMode::],uuseruserMuserMode:ode:MuserMususerMode:erMode:ouserMode:de:ode:serMode: 57.useruserMode:Mode:uuserMode:useruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMususerMode:erMode:ode:serModuserMode:userModeuserMode:useruserMode:Mode::euserMode::q[userMode:1]uuserModeuserMode::serMode:,userususerMode:erMode:MuserMode:ode:useruserMode:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuserModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:oduserMode:e::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userModeuserMode::deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:userMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serModuserMode:e:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.uuserMode:serMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuserMode:useuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuuserMode:serMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseuserMode:ruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuseruserMode:Mode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserMode::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserModuserMode:e:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuserMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserMode:e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModeuserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:serMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:euserMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rMode:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususeuserMode:rMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususeuserMode:rMode:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouseuseruserMode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeuseuseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:Mode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruserMode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususeuserMode:rMode:erMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususeuserMode:rModuserMode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouseuseruserMode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeuseuseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:Mode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:Mode::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:userMouseruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::useuserMode:rModuserMode:e:, rtuseruserMode:Mode:-userMode:>tuserMode:f[usuuserMode:serModususerMode:eruseruserMode:Mode:ModuserMode:e:e:erususeruuserMode:suserMode:erMode:ModuseruserModeuserMode::ModuserMode:e:e:erMuserMode:odeuserMode:ususerModeuseuseruserMode:Mode:ruserMode:Mode::erMode::ModeuuseuserModeuserMode::rModuserMode:e:serMuseruserMode:Mode:ode::0]userMode:, rt->tuseuseruserMode:Mode:rususeuseruseruseuserMode:rMode:Mode:Mode:ruserususerMode:erModuserModeuserMode::e:Mode:ModuseruserMode:Mode:e:euserMode:usususerMode:erMode:erMuserMode:ode:rModususeruserModeuseruserMode:Mode::Mode:erMode:e:ModeuuseuserMode:rMode:seuserMode:rMuseuserMode:ruserMode:Mode:ouserMode:de::f[userMode:1userMode:useuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMode:MouseruserMode:Mode:de:rModeuserMode::]useruserMode:Mode:, rt-userModuserMode:e:ususerMode:euserMode:ruuserModeuseruserMode:Mode::seuseruserMode:Mode:rMode:ModeuseruserMode:ModeususeruseruseuserMode:rModeuserMode::Mode:Mode:eruseruserususerModeuserMode::erMode:de:useuserMode:ruserMode:Mode:MuserMouserMode:de:ode:useuserMode:rModuserMode:e:ruseuseruseuserMode:rMode:Mode:rMode:tuseruserMouseruserMode:ModeuserMode::de:Mode:->useruserMode:Mode:a0[iuuserModuseruserMode:Mode:e:seruserMode:MouserModeuseruserMode:ModuserMode:e::deuserMode::] = 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userMouserMode:de:useruseruserMuserMode:ode:ModuserMode:e:Mode:57ususerMuuseruuserMode:serMode:Mode:serMode:ouserMode:de:eususerMode:erMuserModeuserMode::oduserModeuserMode::userMode:e:userMode:ruuserMode:serMouserMode:de:Mode:.useruuserMode:serMode:MouserMode:deuserMode::3*userMode:rt-uuuseuserMode:userMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususeruserMode:Mode:eruseruserMode:Mode:MuserMode:odeuserMode::MuserModeuserMode::odeuseuserMode:rususerMode:useruserMode:Mode:erMode:useruseruserMode:Mode:userMode:MouserModuserMode:e:de:userMode:MuserModuseruserMode:Mode:e:userMode:ode:userMode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:userMode:Mode:57.3*userMode:rt->userMouserMode:deuserModeuserMode:::quseruserMode:Mode:[uususerModuserMode:e:erMode:useuserMode:rMuserMode:oususerMode:eruseuseuserMode:rMode:rMode:Mode:de:userModuserMode:euseruseuserMode:rMuserMode:ode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouuserMode:serMode:deuserModeususerMode:erMode:::duserMode:euserMode:userMode::ode:erMuuuseuserMode:rMode:serMouserMode:de:serMouserModeuserMode:userMode::de:ouserMode:deuserMode::3],uuserMode:serMouserMode:userMode:userMode:de: 57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erModeuserMode:::q[4uuserMuserMode:ode:suserMuserMode:ode:eruseruserMode:Mode:Mode:]ususerMode:euserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:userMode:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:oduserMode:e:userMode:Mode:serMouserMode:userMode:de:erMouseuserMode:rModuserMode:e:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuuserMode:serMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMususerModuserModususerMode:erMode:e:euserMode::erMouseuserMode:rMode:de:oduseruserMode:Mode:e:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MousususerMode:erMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:serMode:e:userMode:userMuserMode:userModuseuserMode:rMode:e:ouseruserMode:Mode:ususeuserMode:ruseruserMode:ModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserMouserMode:deuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMouserMode:de:erMuserMode:oduserModeuserMode:uuserMode:seuserMode:rMouserMode:de::e:ususerMode:erMode:useruseuserMode:rMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:userMode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duseruserMode:ModuserModuserMode:e:e:e:Mode:[userMode:ususerMode:erMode:ususerMode:uuserMode:serMuserMode:userMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruuserMode:seruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMuserMode:ode:rt->quuserMode:seuuserModeuuserMode:rMuserMode:ode::es[3],uuserMode:serMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeususerMode:erMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuseuserMode:rMode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMuserMode:ode:ModuuserMode:seuserMode:rMode:e:de:>userMode:q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouseruserMode:Mode:de:Mode::e:ususerMode:eruserMode:ModeususerMode:eruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruseruserMode:Mode:MususerMode:userMouserMuserMode:odeuserMode::de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerModuserMode:e:erMode:rMode:de:ouseruserMode:ModuserMode:e:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serMode:serModeuserMuserMode:oduserMode:userMode:e::serMouserMode:duserMode:euserMode:useuserMode:rMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:		userMode:		userMode:userMode:57.3*ruserMode:tuserMode:->duserMode:q[userMode:0userMode:userModeuserMode::],uuseruserMuserMode:ode:MuserMususerMode:erMode:ouserMode:de:ode:serMode: 57.useruserMode:Mode:uuserMode:useruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMususerMode:erMode:ode:serModuserMode:userModeuserMode:useruserMode:Mode::euserMouserMode:de::q[userMode:1]uuserModeuserMode::serMode:,userususerMode:erMode:MuserMode:ode:useruserMode:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuseuserMode:rModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:oduserMode:e::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userModeuserMode::deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:userMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serModuserMode:e:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.uuserMode:serMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuserMode:useuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuuserMode:serMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseuserMode:ruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuseruserMode:Mode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserModeuserMode:::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserModuserMode:e:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuuserMode:serMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserMode:e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModeuserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:serMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:de:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:seruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMode:e:userMode:serMuserMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususeuserMode:rMode:erMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususeuserMode:rModuserMode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouseuseruserMode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeuseuseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:Mode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModeuseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: 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userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserMode:e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModeuserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:serMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMode:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerMode:erMouserMode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMode:e:userMode:serMuuserMode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususeuserMode:rMode:erMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususeuserMode:rModuserMode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouseuseruserMode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeuseuseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:Mode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruserMode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseruseruserMode:Mode:Mode:ouseruseruseruseruserMode:Mode:Mode:Mode:ModeuseruseruserMode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:ModeuserMode::MouseruseruserMode:Mode:Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:de:deuserMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-userMode:>tuserMode:f[usuuserMode:serModususerMode:eruseruserMode:Mode:ModuserMode:e:e:erususeruuserMode:suserMode:erMode:ModuseruserModeuserMode::ModuserMode:e:e:erMuserMode:odeuserMode:ususerModeuseuseruserMode:Mode:ruserMode:Mode::erMode::ModeuuseuserModeuserMode::rModuserMode:e:serMuseruserMode:Mode:ode::0]userMode:, rt->tuseuseruserMode:Mode:rususeuseruseruseuserMode:rMode:Mode:Mode:ruserususerMode:erModuserModeuserMode::e:Mode:ModuseruserMode:Mode:e:euserMode:usususerMode:erMode:erMuserMode:ode:rModususeruserModeuseruserMode:Mode::Mode:erMode:e:ModeuuseuserMode:rMode:seuserMode:rMuseuserMode:ruserMode:Mode:ouserMode:de::f[userMode:1userMode:useuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMode:MouseruserMode:Mode:de:rModeuserMode::]useruserMode:Mode:, 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userMouserMode:de:useruseruserMuserMode:ode:ModuserMode:e:Mode:57ususerMuuseruuserMode:serMode:Mode:serMode:ouserMode:de:eususerMode:euserMode:rMuserModeuserMode::oduserModeuserMode::userMode:e:userMode:ruuserMode:serMouserMode:de:Mode:.useruuserMode:serMode:MouserMode:deuserMode::3*userMode:rt-uuuseuserMode:userMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususeruserMode:Mode:eruseruserMode:Mode:MuserMode:odeuserMode::MuserModeuserMode::odeuseuserMode:rususerMode:useruserMode:Mode:erMode:useruseruserMode:Mode:userMode:MouserModuserMode:e:de:userMode:MuserModuseruserMode:Mode:e:userMode:ode:userMode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:userMode:Mode:57.3*userMode:rt->userMouserMode:deuserModeuserMode:::quseruserMode:Mode:[uususerModuserMode:e:erMode:useuserMode:rMuserMode:oususerMode:eruseuseuserMode:rMode:rMode:Mode:de:userModuserMode:euseruseuserMode:rMuserMode:ode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouuserMode:serMode:deuserModeususerMode:erMode:::duserMode:euserMode:userMode::ode:erMuuuseuserMode:rMode:serMouserMode:de:serMouserModeuserMode:userMode::de:ouserMode:deuserMode::3],uuserMode:serMouserMode:userMode:userMode:de: 57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erModeuserMode:::q[4uuserMuserMode:ode:suserMuserMode:ode:eruseruserMode:Mode:Mode:]ususerMode:euserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:userMode:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:oduserMode:e:userMode:Mode:serMouserMode:userMode:de:erMouseuserMode:rModuserMode:e:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuuserMode:serMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMususerModuserModususerMode:erMode:e:euserMode::erMouseuseruserMode:Mode:rMode:de:oduseruserMode:Mode:e:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MousususerMode:erMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:serMode:e:userMode:userMuserMode:userModuseuserMode:rMode:e:ouseuserMode:ruserMode:Mode:ususeuserMode:ruseruserMode:ModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserMouserMode:deuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMouserMode:de:erMuserMode:oduserModeuserMode:uuserMode:seuserMode:rMouserMode:de::e:ususerMode:erMode:useruseuserMode:rMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:userMode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duseruserMode:ModuserModuserMode:e:e:e:Mode:[userMode:ususerMode:erMode:ususerMode:uuserMode:serMuserMode:userMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruuserMode:seruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMuserMode:ode:rt->quuserMode:seuuserModeuuserMode:rMuserMode:ode::es[3],uuserMode:serMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeususerMode:erMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuseuserMode:rMode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserMode:serMode:userMuserMode:ode:ModuuserMode:seuserMode:rMode:e:de:>userMode:q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouseruserMode:Mode:de:Mode::e:ususerMode:eruserMode:ModeususerMode:eruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMode:de:userMode:useruseruserMode:Mode:MususerMode:userMouserMuserMode:odeuserMode::de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerModuserMode:e:erMode:rMode:de:ouseruserMode:ModuserMode:e:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serModeuserMode::serModeuserMuserMode:oduserMode:userMode:e::serMouserMode:duserMode:euserMode:useuserMode:rMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:		userMode:		userMode:userMode:57.3*ruserMode:tuserMode:->duserMode:q[userMode:0userMode:userModeuuserMode:serMode::],uuseruserMuserMode:ode:MuserMususerMode:erMode:ouserMode:de:ode:serMode: 57.useruserMode:Mode:uuserMode:useruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMususerMode:erMode:ode:serModuserMode:userModeuserMode:useruserMode:Mode::euserMouserMode:de::q[userMode:1]uuserModeuserMode::serMode:,userususerMode:erMode:MuserMode:ode:useruserMode:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuseuserMode:rModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:oduserMode:e::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userModeuserMode::deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:userMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:ModuserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serModuserMode:e:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.uuserMode:serMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::ususeuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuserMode:useuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuuserMode:serMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:userMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseuserMode:ruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*userMode:rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuseruserMode:Mode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserModeuserMode:::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserModuserMode:e:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuuserMode:serMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserMode:e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModeuserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:serMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					rt-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerMode:erMouserMuserMode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMode:e:userMode:serMuuserMode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususeuserMode:rMode:erMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususeuserMode:rModuserMode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouseuseruserMode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeuseuseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:Mode:Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: 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userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserMode:e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:serMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ode:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					ruserMode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerMode:erMouserMuserMode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMode:e:userMode:serMuuserMode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususeuserMode:rMode:erMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususeuserMode:rModuserMode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouseuseruserMode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruserMode:Mode:serususeruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, 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rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseruseruserMode:Mode:Mode:Mode:eruseruserModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMuseruseruserModeuserMode::Mode:Mode:ode:MuserModuserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, 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userMouserMode:de:useruseruserMuserMode:ode:ModuserMode:e:Mode:57ususerMuuseruuserMode:serMode:Mode:serMode:ouserMode:de:eususerMode:euserMode:rMuserModeuserMode::oduserModeuserMode::userMode:e:userMode:ruuserMode:serMouserMode:de:Mode:.useruuserMode:serMode:MouserMode:deuserMode::3*userMode:rt-uuuseuserMode:userMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususeruserMode:Mode:eruseruserMode:Mode:MuserMode:odeuserMode::MuserModeuserMode::odeuseuserMode:rususerMode:useruserMode:Mode:erMode:useruseruserMode:Mode:userMode:MouserModuserMode:e:de:userMode:MuserModuseruserMode:Mode:e:userMode:ode:userMode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:userMode:Mode:57.3*userMode:rt->userMouserMode:deuserModeuserMode:::quseruserMode:Mode:[uususerModuserMode:e:erMode:useuserMode:rMuserMode:oususerMode:eruseuseuserMode:rMode:rMode:Mode:de:userModuserMode:euseruseuserMode:rMuserMode:ode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouuserMode:serMode:deuserModeususerMode:erMode:::duserMode:euserMode:userMode::ode:erMuuuseuserMode:rMode:serMouserMode:de:serMouserModeuserMode:userMode::de:ouserMode:deuserMode::3],uuserMode:serMouserMode:userMode:userMode:de: 57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erModeuserMode:::q[4uuserMuserMode:ode:suserMuserMode:ode:eruserususerMode:erMode:Mode:Mode:]ususerMode:euserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:userMode:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:oduserMode:e:userMode:Mode:serMouserMode:userMode:de:userMode:erMouseuserMode:rModuserMode:e:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuuserMode:serMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMususerModuserModususerMode:erMode:e:euserMode::erMouseuseruserMode:Mode:rMode:de:oduseruserMode:Mode:e:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MousususerMode:erMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:serMode:e:userMode:userMuserMode:userModuseuserMode:rMode:e:ouseuserMode:ruserMode:Mode:ususeuserMode:ruseruserMode:ModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserMouserMode:deuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMouserMode:de:erMuserMode:oduserModeuserMode:uuserMode:seuserMode:rMouserMode:de::e:ususerMode:erMode:useruseuserMode:rMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:userMode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duseruserMode:ModuserModuserMode:e:e:e:Mode:[userMode:ususerMode:erMode:ususerMode:uuserMode:serMuserMode:userMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruuserMode:seruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMuserMode:ode:rt->quuserMode:seuuserModeuuserMode:rMuserMode:ode::es[3],uuserMode:serMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeususerMode:erMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuseuserMode:rMode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserModuserMode:e:serMode:userMuserMode:ode:ModuuserMode:seuserMode:rMode:e:de:>userMode:q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouseruserMode:Mode:de:Mode::e:ususerMode:eruserMode:ModeususerMode:eruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMuserMode:ode:de:userMode:useruseruserMode:Mode:MususerMode:userMouserMuserMode:odeuserMode::de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerModuserMode:e:erMode:rMode:de:ouseruserMode:ModuserMode:e:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serModeuserMode::serModeuserMuserMode:oduserMode:userMode:e::serMouserMode:duserMode:euserMode:useuserMode:rMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:		userMode:		userMode:userMode:57.3*ruserMode:tuserMode:->duserMode:q[userMode:0userMode:userModeuuserMode:serMode::],uuseruserMuserMode:ode:MuserMususerMode:erMode:ouserMode:de:ode:serMode: 57.useruserMode:Mode:uuserMode:useruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMususerMode:erMode:ode:serModuserMode:userModeuserMode:useruserMode:Mode::euserMouserMode:de::q[userMode:1]uuserModeuserMode::serMode:,userususerMode:erMode:MuserMode:ode:useruserMode:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseuserMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuseuserMode:rModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:oduserMode:e::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userModeuserMode::deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:userMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:MouserMode:duserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serModuserMode:e:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.uuserMode:serMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::uuserMode:suseuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuserMode:useuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuuserMode:serMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:userMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseuserMode:ruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*userMode:rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuseruserMode:Mode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserModeuserMode:::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserModuserMode:e:seruserMode:ModuserMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuuserMode:serMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::MuserMode:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserModeuserMode::e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:serMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserMode::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserMode:rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouserMode:de:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					ruserMode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerMode:erMouserMuserMode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMode:e:userMode:serMuuserMode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususeuserMode:rMode:erMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususeuserMode:rModuserMode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] 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userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserModeuserMode::e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:serMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMode:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserMode::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouserMode:de:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					ruserMode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerMode:erMouserMuserMode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMode:e:userMode:serMuuserMode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususeuserMode:rMode:erMode:userMode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:Mode:e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseruseruserMode:Mode:Mode:Mode:e:rMuseruseruserMode:Mode:Mode:odeuserMouseruseruserMode:Mode:Mode:deuseruseuseruseruserMode:Mode:Mode:ruserModeuseruseruserMode:Mode:Mode::ModeuseruseruseruserMode:Mode:Mode:Mode::ModuseruseruserMode:Mode:Mode:e:::userMuseruseruserMode:Mode:Mode:ode:useususeruseruserMode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseruseruserMode:Mode:Mode::e:userMode:ususeruseruseruserMode:Mode:Mode:Mode:euserMode:rMouseruseruserMode:Mode:Mode:de:userMode:userMouseruseruserMode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModuseuserMode:rModuserMode:e:e:euuseruserMode:Mode:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-userMode:>tuserMode:f[usuuserMode:serModususerMode:eruseruserMode:Mode:ModuserMode:e:e:erususeruuserMode:suserMode:erMode:ModuseruserModeuserMode::ModuserMode:e:e:erMuserMode:odeuserMode:ususerModeuseuseruserMode:Mode:ruserMode:Mode::erMode::ModeuuseuserModeuserMode::rModuserMode:e:serMuseruserMode:Mode:ode::0]userMode:, rt->tuseuseruserMode:Mode:rususeuseruseruseuserMode:rMode:Mode:Mode:ruserususerMode:erModuserModeuserMode::e:Mode:ModuseruserMode:Mode:e:euserMode:usususerMode:erMode:erMuserMode:ode:rModususeruserModeuseruserMode:Mode::Mode:erMode:e:ModeuuseuserMode:rMode:seuserMode:rMuseuserMode:ruserMode:Mode:ouserMode:de::f[userMode:1userMode:useuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMode:MouseruserMode:Mode:de:rModeuserMode::]useruserMode:Mode:, 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5userMode:7userMode:.3userModuserMuserMuserMode:ode:ode:e:*useruserMode:useruserMode:Mode:Mode:rt->q[useuserMode:rMuserModeuserMode::ode:useuserMode:userModeuserMususerMode:erMode:ode::userMode:uuserMode:serMode:rMode:1]useruserMode:MouserMode:deuserMode::, userMouserMode:de:useruseruserMuserMode:ode:ModuserMode:e:Mode:57ususerMuuseruuserMode:serMode:Mode:serMode:ouserMode:de:eususerMode:euserMode:rMuserModeuserMode::oduserModeuserMode::userMode:e:userMode:ruuserMode:serMouserMode:de:Mode:.useruuserMode:serMode:MouserMode:deuserMode::3*userMode:rt-uuuseuserMode:userMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususeruserMode:Mode:eruseruserMode:Mode:MuserMode:odeuserMode::MuserModeuserMode::odeuseuserMode:rususerMode:useruserMode:Mode:erMode:useruseruserMode:Mode:userMode:MouserModuserMode:e:de:userMode:MuserModuseruserMode:Mode:e:userMode:ode:userMode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:userMode:Mode:57.3*userMode:rt->userMouserMode:deuserModeuserMode:::quseruserMuserMode:ode:Mode:[uususerModuserMode:e:erMode:useuserMode:rMuserMode:oususerMode:eruseuseuserMode:rMode:rMode:Mode:de:userModuserMode:euseruseuserMode:rMuserMode:ode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouuserMode:serMode:deuserModeususerMode:erMode:::duserMode:euserMode:ususerMode:erMode::ode:erMuuuseuserMode:rMode:serMouserMode:de:serMouserModeuserMode:userMode::de:ouserMode:deuserMode::3],uuserMode:serMouserMode:userMode:userMode:de: 57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erModeuserMode:::q[4uuserMuserMode:ode:suserMuserMode:ode:eruserususerMode:erMode:Mode:Mode:]ususerMode:euserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:userMode:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:oduserMode:e:userMode:Mode:serMouserMode:userMode:de:userMode:erMouseuserMode:rModuserMode:e:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuuserMode:serMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMususerModuserModususerMode:erMode:e:euserMode::erMouseuseruserMode:Mode:rMode:de:oduseruserMode:Mode:e:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MousususerMode:erMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:serMode:e:userMode:userMuserMode:userModuseuserMode:rMode:e:ouseuserMode:ruserMode:Mode:ususeuserMode:ruseruserMode:ModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserMouserMode:deuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userMode:serMode::ususerMouserMode:de:erMuserMode:oduserModeuserMode:uuserMode:seuserMode:rMouserMode:de::e:ususerMode:erMode:useruseuserMode:rMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:userMode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuseruuserMode:serMuserMode:ouserMode:duseruserMode:ModuserMuserMode:oduserMode:e:e:e:Mode:[userMode:ususerMode:erMode:ususerMode:uuserMode:serMuserMode:userMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruuserMode:seruserMode:MouserMode:de:Mode:7userModuuserMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMuserMode:ode:rt->userMode:quuserMode:seuuserModeuuserMode:rMuserMode:ode::es[3],uuserMode:serMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeususerMode:erMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuseuserMode:rMode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserModuserMode:e:serMode:userMuserMode:ode:ModuuserMode:seuserMode:rMode:e:de:>userMode:q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouseruserMode:Mode:de:Mode::e:ususerMode:eruserMode:ModeususerMode:eruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMuserMode:ode:de:userMode:useruseruserMode:Mode:MususerMode:userMouserMuserMode:odeuserMode::de:erMususeruserMoususerMode:erModeuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerModuserMode:e:erMode:rMode:de:ouseruserMode:ModuserMode:e:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serModeuserMode::serModeuserMuserMode:oduserMode:userMode:e::serMouserMode:duserMode:euserMode:useuserMode:rMode::seruseruserMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:		userMode:		userMode:userMode:57.3*ruserMode:tuserMode:->duserMode:q[userMode:0userMode:userModeuuserMode:serMode::],uuseruserMuserMode:ode:MuserMususerMode:erMode:ouserMode:de:ode:serMode: 57.useruserMode:Mode:uuserMode:useruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duuserMususerMode:erMode:ode:serModuserMode:userModeuserMode:useruserMode:Mode::euserMouserMode:de::q[userMode:1]uuserModeuserMode::serMode:,userususerMode:erMode:MuserMode:ode:useruserMode:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseususerMode:erMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuseuserMode:rModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:oduserMode:e::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:userMode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userModeuserMode::deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuuserMode:serMode:userMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:MouserMode:duserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serModuserMode:e:nter_org.userMode:cpp:		userMode:		5ususerMode:eruserMode:ModeuserMuserMode:ode::7.uuserMode:serMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::uuserMode:suseuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuserMode:useuserMode:rModuserMode:e::ode:seruserMode:ModuserMode:e:eruserMode:userMode:userModuuserMode:serMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMouserMode:userMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseuserMode:ruserMode:Mode:userMouserMode:de:Mode:userusuuserModuserMode:e:seruseuserMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deuserMode::3*userMode:rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuseruserMode:Mode::oduserMode:e:userMouserMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserModuserMode:euserModeuserMode:::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:userMode:rMode:u[userMouserModeuuserMode:serMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserModeuserMode::e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:serMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModeususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMouserMode:de:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserModeuserMode:::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouserMode:de:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					ruserMode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerMode:erMouserMuserMode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMode:e:userMode:serMuuserMode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= 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=useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserModuseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: 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userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserModeuserMode::e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserMode:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouseuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:serMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModuserMode:eususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMouserMode:de:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:oduserMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:userMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouserMode:de:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					ruserMode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerMode:erMouserMuserMode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMode:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:euseruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: 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rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], 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userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:Mode:rModeuserModuserMode:e::MouserMode:deuserModeuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, 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userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerMode:erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMode:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e 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userMode:= 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userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMuserMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserModeuserMode::e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rMode:de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserModuserMode:e:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouuserMode:seuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:serMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModuserMode:eususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMouserMode:de:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:de:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserModeuserMode:::de:erMode:useruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMode:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouserMode:de:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					ruseruserMode:Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerMode:erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMode:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: 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rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], 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0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, 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uuseruserMode:Mode:seuseruserModeuserMode::uuserMode:serMode:ModuserMode:e:userModeuserMode::rMuserMode:useruseruserMode:Mode:Mode:ouserMode:duserMode:e:ruserMode:tuserMouserMode:de:-ususerMode:erModeuserMode::>userMode:uususerModeuserMode::euuuserMode:seruseuserMode:rMode:MuserMode:ode:serModususeruserModeuserMode::Mode:erMode:useruserMode:Mode:e:MuuserMode:suseuserMode:ususerMode:erMode:rModuseruserModeuserModeuserModeuserMode::::MouserMode:deuserMouserMode:de::e:erMode:ode::ususerMode:erMode:Mode)userMode:userMode:anuserModeuseruserModeuserMode::Mode::duserMuseruseruserMode:Mode:ModuserMode:e:ouserMode:deuseruserMode:Mode:ususerMode:euserMode:rModeuserMode:::(userMode:rt->uuserModususerMode:erModeuserMode::euseruuserMode:serMode:MouserMode:de::uuserMode:userMode:suserModuserMode:e:erModuserModuserModeuserMode::euserMode::userModuserMode:e:e:.cpp:	ususeruserMouserMode:duserMode:e:Mode:eruususerMode:erMode:serMode:Mode:userModeuserMode::		userMuseususerMode:erMode:rMode:ouserMuseuserMode:rMode:ode:deuuseruserModeuserMode::MouserMode:duseuserMode:rMode:e:userMode:suserMode:erMouserMode:de:userMode::		userMode:iuserMode:f(useruseuseuseruserMode:Mode:rususerMode:useuseruserModuserMode:e:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:oduserMode:e:rMouseuserMode:rMode:de:MuseruserMode:MuserModeususerMode:erModuserMode:e::ode:odeuserMouserMode:duserModuserMode:e:e:ususerModeuserMode::eruserMode:MuserMode:ouserMouserMode:de:de::rt->muserMode:uuuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuseuserMode:rMode:::userMode:rMode:ePauserMuserMode:ode:ramuseuserMode:rModeuserMode::eters(rt->a0useruserMode:MoususeuuserMode:serModeuserModuserMode:e::rModeuserMode::euserMode:rMode:deuserMuuserModeuserMode::suserMouserMode:de:erModeuserMuserMode:ode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserModeuserMode::duserMode:e:euserMode:::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euserMode:uuserMode:serMuserMode:ode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:eruserMode:Mode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:userMode:useuseruserModuserMode:e:ModuserMode:e:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:duserMode:e:serMuserModeuserMode::oduseruseuuseuserMode:rMode:serMouserMode:de:rMouseruserModuserModuserMode:e:e:ModeuserMouserMode:de::de:MuuuserMode:serMuserMode:ode:seuserMode:rMode:ode:e:ususerMouserMode:de:erMode:3useuserMode:rMode:,rtuseruseruseruserModuseruserMode:Mode:e:Mode:ModuserMode:e:userMode:userMode:Mode:userMode:-userMouserModeuserMode::de:>tf, 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userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerMode:erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMode:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserMode:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = 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userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruserMode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: 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rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuserMode::eruseuserMode:rModuseruseruserMode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMuseruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, 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userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMususerMode:erMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserModeuserMode::e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rModeuserMode::de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserModuserMode:e:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouuserMode:seuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:serMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModuserMode:eususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ode:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMouserMode:de:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuserMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMode:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruserMode:Mode:de:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					ruseruserMode:Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerMode:erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMode:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userMode:ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:Mode:rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: 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rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], 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0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:Mode:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, 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userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerMode:erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMode:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e 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userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruserMode:Mode:l[2] =useuseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: 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rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuserMode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:useuserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-userMode:>tuserMode:f[usuuserMode:serModususerMode:eruseruserMode:Mode:ModuserMode:e:e:erususeruuserMode:suserMode:erMode:ModuseruserModeuserMode::ModuserMode:e:e:erMuserMode:odeuserMode:ususerModeuseuseruserMode:Mode:ruserMode:Mode::erMode::ModeuuseuserModeuserMode::rModuserMode:e:serMuseruserMode:Mode:ode::0]userMode:, rt->tuseuseruserMode:Mode:rususeuseruseruseuserMode:rMode:Mode:Mode:ruserususerMode:erModuserModeuserMode::e:Mode:ModuseruserMode:Mode:e:euserMode:usususerMode:erMode:erMuserMode:ode:rModususeruserModeuseruserMode:Mode::Mode:erMode:e:ModeuuseuserMode:rMode:seuserMode:rMuseuserMode:ruserMode:Mode:ouserMode:de::f[userMode:1userMode:useuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMode:MouseruserMode:Mode:de:rModeuserMode::]useruserMode:Mode:, rt-userModuserMode:e:ususerMode:euserMode:ruuserModeuseruserMode:Mode::seuseruserMode:Mode:rMode:ModeuseruserMode:ModeususeruseruseuserMode:rModeuserMode::Mode:Mode:eruseruserususerModeuserMode::erMode:de:useuserMode:ruserMode:Mode:MuserMouserMode:de:ode:useuserMode:rModuserMode:e:ruseuseruseuserMode:rMode:Mode:rMode:tuseruserMouseruserMode:ModeuserMode::de:Mode:->useruserMode:Mode:a0[iuuserModuseruserMode:Mode:e:seruserMode:MouserModeuseruserMode:ModuserMode:e::deuserMode::] = 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userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMususerMode:erMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserModeuserMode::e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rModeuserMode::de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserModuserMode:e:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouuserMode:seuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:serMode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModuserMode:eususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ouserMode:de:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMouserMode:de:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuseuserMode:rMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeususerModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruserMode:Mode:de:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					ruseruserMode:Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerMode:erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:ModeuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuserMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= 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=ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: 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rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususerMode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] 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0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=useruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-userMode:>tuserMode:f[usuuserMode:serModususerMode:eruseruserMode:Mode:ModuserMode:e:e:erususeruuserMode:suserMode:erMode:ModuseruserModeuserMode::ModuserMode:e:e:erMuserMode:odeuserMode:ususerModeuseuseruserMode:Mode:ruserMode:Mode::erMode::ModeuuseuserModeuserMode::rModuserMode:e:serMuseruserMode:Mode:ode::0]userMode:, rt->tuseuseruserMode:Mode:rususeuseruseruseuserMode:rMode:Mode:Mode:ruserususerMode:erModuserModeuserMode::e:Mode:ModuseruserMode:Mode:e:euserMode:usususerMode:erMode:erMuserMode:ode:rModususeruserModeuseruserMode:Mode::Mode:erMode:e:ModeuuseuserMode:rMode:seuserMode:rMuseuserMode:ruserMode:Mode:ouserMode:de::f[userMode:1userMode:useuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMode:MouseruserMode:Mode:de:rModeuserMode::]useruserMode:Mode:, 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rt-userMuserMode:oduseruseruserMode:Mode:Mode:e:userModeuseuserModeuserMode::ruserMode:MuseruserMouserMode:de:Mode:oduserMode:userMuserMode:ode:euserMode:usuuserMode:serMode:erMode:::uusususerMode:erMode:erMuserMode:ode:seruseruseuserMode:rMode:MouserMode:de:ModuserMode:e:useususerMode:erMouserMouserMode:de:de:userMode:ruuserMouserModeuserMode::de:seuserMouseruserMouserMode:deuserModeuserMode:::Mode:de:rMode:MouseuseuserModuserMode:euserMode::rMode:ruseruserMode:Mode:Mode:de:userususerMode:euserMode:ruserMode:MouserMode:de:Mode:uususerModeuseuserMode:rMode::erModeuserMode::suseruserMode:Mode:useruuseuserMode:rMode:serModuseruserMouserMode:de:ModeuserModeuserMode:::euserMode::userMode:ModuuserMode:serMode:e:eruususerModuserMode:e:erMode:seruserMuseruseruserModeuserMode::ModuseruserMode:Mode:e:Mode:ode:ModeususerMode:erMouserModuserMode:e:de::Mode:useuseruseususerModuserMode:euseruserMode:Mode::euuserMode:seruserMode:Mode:Mode:MuserMouserMode:de:odeuserMouserMode:de::userModuseuserModeuserMode::rModeuserMode::e:rt->ususerususerMode:euseruseuseuserMode:rMode:rMode:Mode:rModeuserMode:uuserMode:serModuserModeuserMode::e::Mode:erEuuseruserMode:Mode:seuserModeuserModuserMode:e::rModuseuserMode:rMouseruserModeuserModeuserModeuserMode::::Mode:de:e:n", uuseruserMode:Mode:seuseruserModeuserMode::uuserMode:serMode:ModuserMode:e:userModeuserMode::rMuserMode:useruseruserMode:Mode:Mode:ouserMode:duserMode:e:ruserMode:tuserMouserMode:de:-ususerMode:erModeuserMode::>userMode:uususerModeuserMode::euuuserMode:seruseuserMode:rMode:MuserMode:ode:serModususeruserModeuserMode::Mode:erMode:useruserMode:Mode:e:MuuserMode:suseuserMode:ususerMode:erMode:rModuseruserModeuserModeuserModeuserMode::::MouserMode:deuserMouserMode:de::e:erMode:ode::ususerMode:erMode:Mode)userMode:userMode:anuserModeuseruserModeuserMode::Mode::duserMuseruseruserMode:Mode:ModuserMode:e:ouserMode:deuseruserMode:Mode:ususerMode:euserMode:rModeuserMode:::(userMode:rt->uuserModususerMode:erModeususerMode:erMode::euseruuserMode:serMode:MouserMode:de::uuserMode:userMode:suserModuserMode:e:erModuuserMode:serModuserModeuserMode::euserMode::userModuserMode:e:e:.cpp:	ususeruserMouserMode:duserModuserMode:e:e:Mode:eruususerMode:erMode:serMode:Mode:userModeuserMode::		userMuseususerMode:erMode:ruserMode:Mode:ouserMuseuserMode:rMode:ode:deuuseruserModeuserMode::MouserMode:duseuserMode:rMode:e:userMode:suserMode:erMouserMode:de:userMode::		userMode:iuserMode:f(useruseuseuseruserMode:Mode:rususerMode:useuseruserModuserMode:e:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:oduserMode:e:rMouseuserMode:rMode:de:MuseruserMode:MuserModeususerMode:erModuserMode:e::ode:odeuserMouserMode:duserModuserMode:e:e:ususerModeuserMode::eruserMode:MuserMode:ouserMouserMode:de:de::rt->muserMode:uuuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuseuserMode:rMode:::userMode:rMode:ePauserMuserMode:ode:ramuseuserMode:rModeuserMode::eters(rt->a0useruserMode:MoususeuuserMode:serModeuserModuserMode:e::rModeuserMode::euserMode:rMode:deuserMuuserModeuserMode::suserMouserMode:de:erModeuserMuserMode:ode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserModeuserMode::duserMode:e:euserMode:::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euserMode:uuserMode:serMuserMode:ode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:eruserMode:Mode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:userMode:useuseruserModuserMode:e:ModuserMode:e:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:duserMode:e:serMuserModeuserMode::oduseruseuuseuserMode:rMode:serMouserMode:de:rMouseruserModuserModuserMode:e:e:ModeuserMouserMode:de::de:MuuuserMode:serMuserMode:ode:seuserMode:rMode:ode:e:ususerMouserMode:de:erMode:3useuserMode:rMode:,rtuseruseruseruserModuseruserMode:Mode:e:Mode:ModuserMode:e:userMode:userMode:Mode:userMode:-userMouserModeuserMode::de:>tf, 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userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerModeuserMode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e 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userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:Mode:Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: 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rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuserMode::de:userModuseruseruseruseruserMode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:Mode:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-userMode:>tuserMode:f[usuuserMode:serModususerMode:eruseruserMode:Mode:ModuserMode:e:e:erususeruuserMode:suserMode:erMode:ModuseruserModeuserMode::ModuserMode:e:e:erMuserMode:odeuserMode:ususerModeuseuseruserMode:Mode:ruserMode:Mode::erMode::ModeuuseuserModeuserMode::rModuserMode:e:serMuseruserMode:Mode:ode::0]userMode:, rt->tuseuseruserMode:Mode:rususeuseruseruseuserMode:rMode:Mode:Mode:ruserususerMode:erModuserModeuserMode::e:Mode:ModuseruserMode:Mode:e:euserMode:usususerMode:erMode:erMuserMode:ode:rModususeruserModeuseruserMode:Mode::Mode:erMode:e:ModeuuseuserMode:rMode:seuserMode:rMuseuserMode:ruserMode:Mode:ouserMode:de::f[userMode:1userMode:useuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMode:MouseruserMode:Mode:de:rModeuserMode::]useruserMode:Mode:, 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rtuuserMode:serMouserMode:deuserMode::uuserModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:useruserMode:Mode:rMode:u[userMouserModeuuserMode:serMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMususerMode:erMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserModeuserMode::e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rModeuserMode::de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserModuserMode:e:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:userMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouuserMode:seuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:seruserMode:Mode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModuserMode:eususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ouserMode:de:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMouserMode:de:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuseuserMode:rMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserModeuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruserMode:Mode:de:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:ruseruserMode:Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerModeuserMode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, 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rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], 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0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, 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userMouserMode:de:useruseruserMuserMode:ode:ModuserMode:e:Mode:57ususerMuuseruuserMode:serMode:Mode:serMode:ouserMode:de:eususerMode:euserMode:rMuserModeuserMode::oduserModeuuserMode:serMode::useruserMode:Mode:e:userMode:ruuserMode:serMouserMode:de:Mode:.useruuserMode:serMode:MouserMode:deuserMode::3*userMode:rt-uuuseuserMode:userMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususeruserMode:Mode:eruseruserMode:Mode:MuserMode:odeuserMode::MuserModeuserMode::odeuseuserMuserMode:ode:userMode:rususerMode:useruserMode:Mode:erMode:useruseruserMode:Mode:userMode:MouserModuserMode:e:de:userMode:MuserModuseruserMode:Mode:e:userMode:ode:userMode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:userMode:Mode:57.3*userMode:rt->userMouserMode:deuserModeuserMode:::quseruserMuseruserMode:Mode:ode:Mode:[uususerModuserMode:e:erMode:useuserMode:rMuserMode:oususerMode:eruseuseuserMode:rMode:rMode:Mode:de:userModuserMode:euseruseuserMode:rMuserMode:ode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouuserMode:serMode:deuserModeususerMode:erMode:::duserMode:euserMouserMode:de:ususerMode:erMode::ode:erMuuuseuserMode:rMode:serMouserMode:de:serMouserModeuserMode:userMode::de:ouserMode:deuserMode::3],uuserMode:serMouserMode:userMode:userMode:de: 57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erModeuserMode:::q[4uuserMuserMode:ode:suserMuserModuserMode:e:ode:eruserususerMode:erMode:Mode:Mode:]ususerMode:euserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:userMode:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:oduserMode:e:userMode:Mode:seruserMode:MouserMode:userMode:de:userMode:erMouseuserMode:rModuserMode:e:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuuserMode:serMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMusuuserMode:serModuserModususerMode:erMode:euserMode::euserMode::erMouseuseruserMode:Mode:rMode:de:oduseruserMode:Mode:e:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MousususerMode:erMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:userMode:serMode:e:userMode:userMuserMode:userModuuserMode:seuserMode:rMode:e:ouseuserMode:ruserMode:Mode:ususeuserMode:ruseruserMode:ModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserMouserMode:deuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userModeuserMode::serMode::ususerMouserMode:de:erMuserMode:oduserMouserMode:deuserMode:uuserMode:seuserMode:rMouserMode:de::e:ususerMode:erMode:useruseuserMode:rMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:userMode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuserMode:useruuserMode:serMuserMode:ouserMode:duseruserMode:ModuserMuserMode:oduserMode:e:e:e:Mode:[userMode:ususerMode:erMode:ususerMode:uuserMode:serMuserMode:userMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruuserMode:seruserMode:MouserMode:de:Mode:7userModuuseuserMode:rMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMuserMode:ode:rt->userMode:quuserMode:seuuserModeuuserMode:rMuserMode:ode::es[3],uuserMode:serMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeususerMode:erMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuseuserMode:rMuserMode:ode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserModuserMode:e:serMode:userMuserMode:ode:ModuuserMode:seuserMode:rMode:e:de:>userMode:q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMode:MouserMode:deuseruserMouseruserMode:Mode:de:Mode::e:ususerMode:eruserModeuserMode::ModeususerMode:eruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMuserMode:ode:de:userMode:useruseruserMode:Mode:MususerMode:userMouserMuserMode:odeuserMode::de:erMususeruserMoususerMode:erMouserMode:deuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerModuserMode:e:erMode:rMode:de:ouserMode:useruserMode:ModuserMode:e:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serModeuserMode::serModeuserMuserMode:oduserMode:userMode:e::serMouserMode:duserMode:euserMode:useuserMode:rMode::seruserususerMode:erMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:		userMode:	userMode:	userMode:userMode:57.3*ruserMode:tuserMode:->duserMode:q[userMode:0userMode:userModeuuserMode:serMode::],uuseruserMuserMode:ode:MuserMususerMode:erMode:ouserMode:de:ode:serMode: 57.useruserModuserMode:e:Mode:uuserMode:useruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duserMode:uuserMususerMode:erMode:ode:serModuserMode:userModeuserMode:useruserMode:Mode::euserMouserMode:de::q[userMode:1]uuserModeuserMode::serMode:,userususerMode:erMode:MuserMode:ode:useruseruserMode:Mode:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseususerMode:erMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuseuserMode:rModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:oduseuserMode:rMode:e::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:userMode:useususeruseuserMode:rMode:Mode:erMode:rMouuuserModeuserMode::serMode:serMode:userModeuserMode::deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuususerMode:erMode:serMode:userMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:MouserMode:duserMode:e:Mode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serModuserMode:e:nter_org.userMode:cpp:		userMode:		5ususerMode:erususerMode:erMode:ModeuserMuserMode:ode::7.uuserMode:serMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::uuserModeuserMode::suseuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuserMode:useuserMode:rModuserMode:e::ode:seruserMode:userMode:ModuserMode:e:eruserMode:userMode:userModuuserMode:serMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMuserMode:ouserMode:userMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseuserMode:ruserMode:Mode:userMouserMode:de:MouserMode:de:userusuuserModuserMode:e:seruseuserMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deususerMode:erMode::3*userMode:rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuseruserMode:Mode::oduserMode:e:userMouuserMode:serMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserMouserMode:duserMode:euserModeuserMode:::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:useruserMode:Mode:rMode:u[userMouserModeuuserMode:serMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuserMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMususerMode:erMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:userMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserModeuserMode::e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rModeuserMode::de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMuserMode:ode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserModuserMode:e:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:userMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouuserMode:seuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:seruserMode:Mode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModuserMode:eususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ouserMode:de:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMouserMode:de:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuseuserMode:rMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:serMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouserMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:Mode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:ruseruserMode:Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerModeuserMode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:de:useuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:rususeruserMode:Mode:eruseuseruseruserMode:Mode:Mode:rModuseruserMode:Mode:e:ModeuseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode::MouseruserMode:Mode:de:ususeruseruserMode:Mode:Mode:erMouseruserMode:Mode:deuseruseuseruserMode:Mode:ruseruseruseruserMode:Mode:Mode:ModeuseruserMode:Mode::Mode:ModuseruserMode:Mode:e::ususeruseruserMode:Mode:Mode::ModuseruserMode:Mode:e:Mode:		useruserMode:Mode:	userModeuseruserMode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: 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rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-userMode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuseruseruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-userMode:>tuserMode:f[usuuserMode:serModususerMode:eruseruserMode:Mode:ModuserMode:e:e:erususeruuserMode:suserMode:erMode:ModuseruserModeuserMode::ModuserMode:e:e:erMuserMode:odeuserMode:ususerModeuseuseruserMode:Mode:ruserMode:Mode::erMode::ModeuuseuserModeuserMode::rModuserMode:e:serMuseruserMode:Mode:ode::0]userMode:, rt->tuseuseruserMode:Mode:rususeuseruseruseuserMode:rMode:Mode:Mode:ruserususerMode:erModuserModeuserMode::e:Mode:ModuseruserMode:Mode:e:euserMode:usususerMode:erMode:erMuserMode:ode:rModususeruserModeuseruserMode:Mode::Mode:erMode:e:ModeuuseuserMode:rMode:seuserMode:rMuseuserMode:ruserMode:Mode:ouserMode:de::f[userMode:1userMode:useuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMode:MouseruserMode:Mode:de:rModeuserMode::]useruserMode:Mode:, rt-userModuserMode:e:ususerMode:euserMode:ruuserModeuseruserMode:Mode::seuseruserMode:Mode:rMode:ModeuseruserMode:ModeususeruseruseuserMode:rModeuserMode::Mode:Mode:eruseruserususerModeuserMode::erMode:de:useuserMode:ruserMode:Mode:MuserMouserMode:de:ode:useuserMode:rModuserMode:e:ruseuseruseuserMode:rMode:Mode:rMode:tuseruserMouseruserMode:ModeuserMode::de:Mode:->useruserMode:Mode:a0[iuuserModuseruseruserMode:Mode:Mode:e:seruserMode:MouserModeuseruserMode:ModuseruserMode:Mode:e::deuserMode::] = rt->q[uususerMode:erModeususeruserMode:Mode:eruseruserModeuserMode::Mode:Mode::seruserModuseruserMode:Mode:euserMode:useruserMouseuserMode:ruserMode:ModuseruserMode:Mode:e:duserMode:euserMouserMode:de::userMode:MoususeruserMode:Mode:eruseruserMode:Mode:Mode:de::Mode:iususeruseruseruserMode:Mode:Mode:Mode:eruserMoususeruserMode:Mode:erModeuuseruserMode:Mode:serususerMode:erModuserMode:e:ModeuseruseruseuseruserMode:Mode:rMode:Mode:ModuserMode:e:::de:ModuseruserModeuseruserMode:Mode::Mode:e:useuseruserModeuserMode::Mode:rMuserMuseruserMode:Mode:ode:odeuseuserMode:ruuseruseruseuserMode:ruseuseruserMode:Mode:rMode:Mode:Mode:Mode:serModeuserMode::ModuseruseruserMode:Mode:Mode:e::useuseruserMode:Mode:rMouseuserMode:ruseruserMode:Mode:MuseruserMode:Mode:ode:de:usuuseruserMode:ModuseruserMode:Mode:e:suseruserMode:ModuseruserMode:Mode:e:erModeuseruserMode:Mode:ususeruserMode:Mode:eruserMode:Mode::useruseruseruserMode:Mode:Mode:Mode:erModuserMuseruserMode:Mode:ode:e:uuseruserMode:Mode:seruseruseuseruserMode:Mode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode:::rt->q[i])useuseuseruserMode:ModeuseruserMode:Mode::rModeuserMuseruserMode:Mode:oduserMode:e::rMuseruserMode:Mode:uuseruserMode:Mode:serModuseruseruserMode:ModuseruserMode:Mode:e:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuuseruserMode:Mode:seuseruserMode:Mode:ruserMuserMode:oduseruseruseruserMode:Mode:Mode:Mode:userMode:euseruserMode:Mode:useusususeruserMode:Mode:erMode:erMuseruserMode:Mode:ode:rMode:useruserModuserMode:e:ModuserMode:e::userMode:MuserMouseruserMode:Mode:de:userMode:ode:->tuseruseuserMode:rMode:Mode:f[useuserMode:useuseuserMode:ruserMode:Mode:rMode:rMuserMode:ususeruserMode:Mode:eruserMode:ModeuserMode::ouseruserMode:ModeuserMode::deuserModeususerMode:eruserMode:Mode:::i]*rt->tuseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruseruserMode:Mode:Mode:ModeususerMuseruserMode:Mode:ouseruserMode:Mode:de:erMode:useruserMode:Mode::fuserMode:uuseruserMode:ModuserModuseruseuserMode:rMode:Mode:e:e:serMouususerMode:eruserMode:ModuserMode:e:serMouuserMode:serMode:dususeruserModeuserMode::Mode:erMode:e:duseruseuserModeuserMode::rMode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:ruserMode:MuserMode:oduseruserModuserMode:e:Mode:e:userModeuseruseuseruseuserMode:rMode:ModeuserMode::rMouserMode:de:ModeuseruserMode:Mode:::useruserMode:useruserModuseruseruseruserMode:Mode:Mode:Mode:euserMode:userususerMode:erMode:Mode::ModususerMuserMode:ode:euserMode:ruseruserMode:ModuserMode:e:ModeususeruseruserModuserMode:e:Mode:Mode:- 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rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserModeuserMode:::de:erMode:uuserMode:seruserMode:userMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:ruseruserMode:Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerModeuserMode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:serMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeruseruserMode:Mode:Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:euseruserMode:e::userMode:MuseruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruserMode:MouseruseruserMode:Mode:Mode:deuserMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-userMode:>tuserMode:f[usuuserMode:serModususerMode:eruseruserMode:Mode:ModuserMode:e:e:erususeruuserMode:suserMode:erMode:ModuseruserModeuserMode::ModuserMode:e:e:erMuserMode:odeuserMode:ususerModeuseuseruserMode:Mode:ruserMode:Mode::erMode::ModeuuseuserModeuserMode::rModuserMode:e:serMuseruserMode:Mode:ode::0]userMode:, rt->tuseuseruserMode:Mode:rususeuseruseruseuserMode:rMode:Mode:Mode:ruserususerMode:erModuserModeuserMode::e:Mode:ModuseruserMode:Mode:e:euserMode:usususerMode:erMode:erMuserMode:ode:rModususeruserModeuseruserMode:Mode::Mode:erMode:e:ModeuuseuserMode:rMode:seuserMode:rMuseuserMode:ruserMode:Mode:ouserMode:de::f[userMode:1userMode:useuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMode:MouseruserMode:Mode:de:rModeuserMode::]useruserMode:Mode:, 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rt-userMuserMode:oduseruseruserMode:Mode:Mode:e:userModeuseuserModeuserMode::ruserMode:MuseruserMouserMode:de:Mode:oduserMode:userMuserMode:ode:euserMode:usuuserMode:serMode:erMode:::uusususerMode:erMode:erMuserMode:ode:seruseruseuserMode:rMode:MouserMode:de:ModuserMode:e:useususerMode:erMouserMouserMode:de:de:userMode:ruuserMouserModeuserMode::de:seuserMouseruserMouserMode:deuserModeuserMode:::Mode:de:rMode:MouseuseuserModuserMode:euserMode::rMode:ruseruserMode:Mode:Mode:de:userususerMode:euserMode:ruserMode:MouserMode:de:Mode:uususerModeuseuserMode:rMode::erModeuserMode::suseruserMode:Mode:useruuseuserMode:rMode:serModuseruserMouserMode:de:ModeuserModeuserMode:::euserMode::userMode:ModuuserMode:serMode:e:eruususerModuserMode:e:erMode:seruserMuseruseruserModeuserMode::ModuseruserMode:Mode:e:Mode:ode:ModeususerMode:erMouserModuserMode:e:de::Mode:useuseruseususerModuserMode:euseruserMode:Mode::euuserMode:seruserMode:Mode:Mode:MuserMouserMode:de:odeuserMouserMode:de::userModuseuserModeuserMode::rModeuserMode::e:rt->ususerususerMode:euseruseuseuserMode:rMode:rMode:Mode:rModeuserMode:uuserMode:serModuserModeuserMode::e::Mode:erEuuseruserMode:Mode:seuserModeuserModuserMode:e::rModuseuserMode:rMouseruserModeuserModeuserModeuserMode::::Mode:de:e:n", uuseruserMode:Mode:seuseruserModeuserMode::uuserMode:serMode:ModuserMode:e:userModeuserMode::rMuserMode:useruseruserMode:Mode:Mode:ouserMode:duserMode:e:ruserMode:tuserMouserMode:de:-ususerMode:erModeuserMode::>userMode:uususerModeuserMode::euuuserMode:seruseuserMode:rMode:MuserMode:ode:serModususeruserModeuserMode::Mode:erMode:useruserMode:Mode:e:MuserMode:uuserMode:suseuserMode:ususerMode:erMode:rModuseruserModeuserModeuserModeuserMode::::MouseuserMode:rMode:deuserMouserMode:de::e:erMode:ode::ususerMode:erMode:Mode)userMode:userMode:anuserMouserMode:deuseruserModeuserMode::Mode::duserMuseruseruserMode:Mode:ModuserMode:e:ouserMode:deuserususerMode:erMode:Mode:ususerMode:euserMode:rModeuserMode:::(userMode:rt->uuserModususerMode:erModeususerMode:erMode::euseruuserMode:serMode:MouserMode:de::uuserMode:userMode:suserModuserMode:e:erModuuserMode:serModuserModeuserMode::euserMode::userModuserMode:e:e:.cpp:	ususeruserMouserMode:duserModuserMode:e:e:Mode:eruususerMode:erMode:serMode:Mode:userModeuserMode::		userMuseususerMode:erMode:ruserMode:Mode:ouserMuseuserMode:rMode:ode:deuuseruserModeuserMode::MouserMode:duseuserMode:rMode:e:userMode:suserMode:erMouserMode:de:userMode::		userMode:iuserMode:f(useruseuseuseruserMode:Mode:rususerMode:useuseruserModuserMode:e:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:oduserMode:e:rMouseuserMode:rMode:de:MuseruserMode:MuserModeususerMode:erModuserMode:e::ode:odeuserMouserMode:duserModuserMode:e:e:ususerModeuserMode::eruserMode:MuserMode:ouserMouserMode:de:de::rt->muserMode:uuuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuseuserMode:rMode:::userMode:rMode:ePauserMuserMode:ode:ramuseuserMode:rModeuserMode::eters(rt->a0useruserMode:MoususeuuserMode:serModeuserModuserMode:e::rModeuserMode::euserMode:rMode:deuserMuuserModeuserMode::suserMouserMode:de:erModeuserMuserMode:ode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserModeuserMode::duserMode:e:euserMode:::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euserMode:uuserMode:serMuserMode:ode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:eruserMode:Mode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserMode:de:userMode:useuseruserModuserMode:e:ModuserMode:e:ruserMode:Mode:auuserMouseuserMode:rMode:userMode:duserMode:e:serMuserModeuserMode::oduseruseuuseuserMode:rMode:serMouserMode:duserMode:e:rMouseruserModuserModuserMode:e:e:ModeuserMouserMode:de::de:MuuuserMode:serMuserMode:ode:seuserMouserMode:de:rMode:ode:e:ususerMouserMode:de:erMode:3useuserMode:rMode:,rtuseruseruseruserModuseruserMode:ModuserMode:e:e:Mode:ModuserMode:e:userMode:userMode:Mode:userMode:-userMouserModeuserMode::de:>tf, 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userMouserMode:de:useruseruserMuserMode:ode:ModuserMode:e:Mode:57ususerMuuseruuserMode:serMode:Mode:serMode:ouserMode:de:eususerMode:euserMode:rMuserModeuserMode::oduserModeuuserMode:serMode::useruserMode:Mode:e:userMode:ruuserMode:serMouserMode:de:Mode:.useruuserMode:serMode:MouserMode:deuserMode::3*userMode:rt-uuuseuserMode:userMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususeruserMode:Mode:eruseruserMode:Mode:MuserMode:odeuserMode::MuserModeuserMode::odeuseuserMuserMode:ode:userMode:rususerMode:useruserMode:Mode:erMode:useruseruserMode:Mode:userMode:MouserModuserMode:e:de:userMode:MuserModuseruserMode:Mode:e:userMode:ode:userMode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:userMode:Mode:57.3*userMode:rt->userMouserMode:deuserModeuserMode:::quseruserMuseruserMode:Mode:ode:Mode:[uususerModuserMode:e:erMode:useuserMode:rMuserMode:oususerMode:eruseuseuserMode:rMode:rMode:Mode:de:userModuserMode:euseruseuserMode:rMuserMode:ode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouuserMode:serMode:deuserModeususerMode:erMode:::duserMode:euserMouserMode:de:ususerMode:erMode::ode:erMuuuseuserMode:rMode:serMouserMode:de:serMouserModeuserMode:userMode::de:ouserMode:deuserMode::3],uuserMode:serMouserMode:userMode:userMode:de: 57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erModeuserMode:::q[4uuserMuserMode:ode:suserMususerMode:erModuserMode:e:ode:eruserususerMode:erMode:Mode:Mode:]ususerMode:euserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:userMode:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:oduserMode:e:useuserMode:rMode:Mode:seruserMode:MouserMode:userMode:de:userMode:erMouseuserMode:rModuserMode:e:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuuserMode:serMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMusuuserMode:serModuserModususerMode:erMode:euserMode::euserMode::erMouseuseruserMode:Mode:rMode:de:oduseruserMode:Mode:e:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MousususerMode:erMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:userMode:serMode:e:userMode:userMuserMode:userModuuserMode:seuserMode:rMode:e:ouseuserMode:ruserMode:Mode:ususeuserMode:ruseruserMode:ModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserMouserMode:deuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userModeuserMode::serMode::ususerMouserMode:de:erMuserMode:oduserMouserMode:deuserMode:uuserMode:seuserMode:rMouserMode:de::e:ususerMode:erMode:useruseuserMode:rMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:userMode:->q_useruuserMode:serMode:MouserMode:duserMode:e:desuserMode:useruuserMode:serMuserMode:ouserMode:duseruserMode:ModuserMuserMode:oduserMode:e:e:e:Mode:[userMode:ususerMode:erMode:ususerMode:uuserMode:serMuserMode:userMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruuserMode:seruserMode:MouserMode:de:Mode:7userModuuseuserMode:rMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMuserMode:ode:rt->userMode:quuserMode:seuuserModeuuserMode:rMuserMode:ode::es[3],uuserMode:serMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeususerMuserMode:ode:erMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuseuserMode:rMuserMode:ode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserModuserMode:e:serMode:userMuserMode:ode:ModuuserMode:seuserMode:rMode:e:de:>userMode:q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMuserMode:ode:MouserMode:deuseruserMouseruserMode:Mode:de:Mode::e:ususerMode:eruserModeuserMode::ModeususerMode:eruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMuserMode:ode:de:userMode:useruseruserMode:Mode:MususerMode:userMouserMuserMode:odeuserMode::de:erMususeruserMoususerMode:erMouserMode:deuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerModuserMode:e:erMode:rMode:de:ouserMode:useruserMode:ModuserMode:e:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serModeuserMode::serModeuserMuserMode:oduserMode:userMode:e::serMouserMode:duserMode:euserMode:useuserMode:rMode::seruserususerMode:erMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:		userMode:	userMode:	userMode:userMode:57.3*ruserMode:tuserMode:->duserMode:q[userMode:0userMode:userModeuuserMode:serMode::],uuseruserMuserMode:ode:MuserMususerMode:erMode:ouserMode:de:ode:serMode: 57.useruserModuserMode:e:Mode:uuserMode:useruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duserMode:uuserMususerMode:erMode:ode:serModuserMode:userModeuserMode:useruserMode:Mode::euserMouserMode:de::q[userMode:1]uuserModeuserMode::serMode:,userususerMode:erMode:MuserMode:ode:useruseruserMode:Mode:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseususerMode:erMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suserMode:euserMode:rModeuseuserMode:rModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:oduseuserMode:rMode:e::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:userMode:useususeruseuserMode:rMode:Mode:erMuserMode:ode:rMouuuserModeuserMode::serMode:serMode:userModeuserMode::deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuususerMode:erMode:serMode:userMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:MouserMode:duserMode:e:Mode:userMode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serModuserMode:e:nter_org.userMode:cpp:		userMode:		5ususerMode:erususerMode:erMode:ModeuserMuserMode:ode::7.uuserMode:serMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::uuserModeuserMode::suseuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuserMode:useuserMode:rModuserMode:e::ode:seruserMode:userMode:ModuserMode:e:eruserMode:userMode:userModuuserMode:serMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMuserMode:ouserMode:userMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseuserMode:ruserMode:Mode:userMouserMode:de:MouserMode:de:userusuuserModuserMode:e:seruseuserMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deususerMode:erMode::3*userMode:rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuseruserMode:Mode::oduserMode:e:userMouuserMode:serMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserMouserMode:duserMode:euserModeuserMode:::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:deuserMode::uuserModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:useruserMode:Mode:rMode:u[userMouserModeuuserMode:serMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMususerMode:erMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:useuserMode:rMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserModeuserMode::e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rModeuserMode::de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMuserMode:ode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserModuserMode:e:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:userMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouuserMode:seuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:seruserMode:Mode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMode::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModuserMode:eususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ouserMode:de:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMouserMode:de:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuseuserMode:rMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:suserMode:erMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seuserMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:ruseruserMode:Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerModeuserMode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuseuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuseruseruserMode::Mode: 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userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:ruseruserMode:Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerModeuserMode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuuserMode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseruseruserMode:Mode:Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuserMode::e:de:>qgouseruseususeruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserMode:de:de:useruseruserModeuserMode::Mode:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-userMode:>tuserMode:f[usuuserMode:serModususerMode:eruseruserMode:Mode:ModuserMode:e:e:erususeruuserMode:suserMode:erMode:ModuseruserModeuserMode::ModuserMode:e:e:erMuserMode:odeuserMode:ususerModeuseuseruserMode:Mode:ruserMode:Mode::erMode::ModeuuseuserModeuserMode::rModuserMode:e:serMuseruserMode:Mode:ode::0]userMode:, rt->tuseuseruserMode:Mode:rususeuseruseruseuserMode:rMode:Mode:Mode:ruserususerMode:erModuserModeuserMode::e:Mode:ModuseruserMode:Mode:e:euserMode:usususerMode:erMode:erMuserMode:ode:rModususeruserModeuseruserMode:Mode::Mode:erMode:e:ModeuuseuserMode:rMode:seuserMode:rMuseuserMode:ruserMode:Mode:ouserMode:de::f[userMode:1userMode:useuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMode:MouseruserMode:Mode:de:rModeuserMode::]useruserMode:Mode:, rt-userModuserMode:e:ususerMode:euserMode:ruuserModeuseruserMode:Mode::seuseruserMode:Mode:rMode:ModeuseruserMode:ModeususeruseruseuserMode:rModeuserMode::Mode:Mode:eruseruserususerModeuserMode::erMode:de:useuserMode:ruserMode:Mode:MuserMouserMode:de:ode:useuseuserMode:rMode:rModuserMode:e:ruseuseruseuserMode:rModuserMode:e:Mode:rMode:tuseruserMouseruserMode:ModeuseruserMode:Mode::de:Mode:->useruserMode:Mode:a0[iuuserModuseruseruserMode:Mode:Mode:e:seruserMode:MouserModeuseruserMode:ModuseruserMode:Mode:e::deuserMode::] = 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userMouserMode:de:useruseruserMuserMode:ode:ModuserMode:e:Mode:57ususerMuuseruuserMode:serMode:Mode:serMode:ouserMode:de:eususerMode:euserMode:rMuserModeuserMode::oduserModeuuserMode:serMode::useruserMode:Mode:e:userMode:ruuserMode:serMouserMode:de:Mode:.useruuserMode:serMode:MouserMode:deuserMode::3*userMode:rt-uuuseuserMode:userMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususeruserMode:Mode:eruseruserMode:Mode:MuserMode:odeuserMode::MuserModeuserMode::odeuseuserMuserMode:ode:userMode:rususerMode:useruserMode:Mode:erMode:useruseruserMode:Mode:userMode:MouserModuserMode:e:de:userMode:MuserModuseruserMode:Mode:e:userMode:ode:userMode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:userMode:Mode:57.3*userMode:rt->userMouserMode:deuserModeuserMode:::quseruserMuseruserMode:Mode:ode:Mode:[uususeruserMode:ModuserMode:e:erMode:useuserMode:rMuserMode:oususerMode:eruseuseuserMode:rMode:rMode:Mode:de:userModuserMode:euseruseuserMode:rMuserMode:ode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouuserMode:serMode:deuserModeususerMode:erMode:::duserMode:euserMouserMode:de:uuserMode:suserMode:erMode::ode:erMuuuseuserMode:rMode:serMouserMode:de:serMouserModeuserMode:userMode::de:ouserMode:deuserMode::3],uuserMode:serMouserMode:userMode:userMode:de: 57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erModeuserMode:::q[4uuserMuserMode:ode:suserMususerMode:erModuserMode:e:ode:eruserususerMode:erMode:Mode:Mode:]ususerMode:euserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:userMode:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:oduserMode:e:useuserMode:rMode:Mode:seruserMode:MouserMode:userMode:de:userMode:erMouseuserMode:rModuserMode:e:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuuserMode:serMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMusuuserMode:serModuserModususerMode:erMode:euserMode::euserMode::erMouseuseruserMode:Mode:rMode:de:oduseruserMode:Mode:e:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MousususerMode:erMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:userMode:serMode:e:userMode:userMuserMode:userModuuserMode:seuserMode:rMode:e:ouseuserMode:ruserMode:Mode:ususeuserMode:ruseruserMode:ModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserMouserMode:deuserMode::rMode:seruserMode:ModeuserMode:uuserMode:userModeuserMode::serMode::ususerMouserMode:de:erMuserMode:oduserMouserMode:deuserMode:uuserMode:seuserMode:rMouserMode:de::e:ususerMode:erMode:useruseuserMode:rMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:userMode:->q_useruuserMode:seuserMode:rMode:MouserMode:duserMode:e:desuserMode:useruuserMode:serMuserMode:ouserMode:duseruserMode:ModuserMuserMode:oduserMode:e:e:e:Mode:[userMode:ususerMode:erMode:ususerMode:uuserMode:serMuserMode:userMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruususerMode:erMode:seruserMode:MouserMode:de:Mode:7userModuuseuserMode:rMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMuserMode:ode:rt->userMode:quuserMode:seuuserModeuuserMode:rMuserMode:ode::es[3],uuserMode:serMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeususerMuserMode:ode:erMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuseuserMode:rMuserMode:ode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserModuserMode:e:serMode:userMuserMode:ode:ModuuserMode:seuserMode:rMode:e:de:>userMode:q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMuserMode:ode:MouserMode:deuseruserMouseruserMode:Mode:de:Mode::e:ususerMode:eruserModeuserMode::ModeususerMode:eruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMuserMode:ode:de:userMode:useruseruserMode:Mode:MususerMode:userMouserMuserMode:odeuserMode::de:erMususeruserMoususerMode:erMouserMode:deuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerModuserMode:e:erMode:rMode:de:ouserMode:useruserMode:ModuserMode:e:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serModeuserMode::serModeuserMuserMode:oduserMode:userMode:e::serMouserMode:duserMode:euserMode:useuserMode:rMode::seruserususerMode:erMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:		userMode:	userMode:	userMode:userMode:57.3*ruserMode:tuserMode:->duserMode:q[userMode:0userMode:userModeuuserMode:serMode::],uuseruserMuserMode:ode:MuserMususerMode:erMode:ouserMode:de:ode:serMode: 57.useruserModuserMode:e:Mode:uuserMode:useruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duserMode:uuserMususerMode:erMode:ode:serModuserMode:userModeuserMode:useruserMode:Mode::euserMouseuserMode:rMode:de::q[userMode:1]uuserModeuserMode::serMode:,userususerMode:erMode:MuserMode:ode:useruseruserMode:Mode:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseususerMode:erMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suseuserMode:rMode:euserMode:rModeuseuserMode:rModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:oduseuserMode:rMode:e::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:userMode:useususeruseuserMode:rMode:Mode:erMuserMode:ode:rMouuuserModeuserMode::serMode:serMode:userModeuserMode::deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuususerMode:erMode:serMode:userMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:MouserMode:duserMode:e:Mode:userMode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serModuserMode:e:nter_org.userMode:cpp:		userMode:		5ususerMode:erususerMode:erMode:ModeuserMuserMode:ode::7.uuserMode:serMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::uuserModeuserMode::suseuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuserMode:useuserMode:rModuserMode:e::ode:seruserMode:userMode:ModuserMode:e:eruserMode:userMode:userModuuserMode:serMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMuserMode:ouserMode:userMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseuserMode:ruserMode:Mode:userMouserMode:de:MouserMode:de:userusuuserModuserMode:e:seruseuserMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deususerMode:erMode::3*userMode:rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuseruserMode:Mode::ouserMode:duserMode:e:userMouuserMode:serMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserMouserMode:duserMode:euserModeuserMode:::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:userMode:deuserMode::uuserModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:useruserMode:Mode:rMode:u[userMouserModeuuserMode:serMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMususerMode:erMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:useuserMode:rMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserModeuserMode::e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rModeuserMode::de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMuserMode:ode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:ModeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserModuserMode:e:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:userMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuserMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouuserMode:seuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:seruserMode:Mode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMouserMode:de::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModuserMode:eususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ouserMode:de:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MuserMode:ouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMouserMode:de:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuseuserMode:rMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:suserMode:erMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModuserMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seususerMode:erMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMuserMode:ode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: 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userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerModeuseruserMode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuuserMode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: 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rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uususerMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModususerMode:erMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seususerMode:erMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMuserMode:ode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserModeuserMode:::de:erMode:uuserMode:seruserMode:uuserMode:serMode:MuserMode:ouserMode:de:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruserModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:ruseruserModeuserMode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerModeuseruserMode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuuserMode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeuserMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: 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rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseruseruserMode:Mode:Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserMode:Mode:rModeuseuserMode:rMode::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:e:userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-userMode:>tuserMode:f[usuuserMode:serModususerMode:eruseruserMode:Mode:ModuserMode:e:e:erususeruuserMode:suserMode:erMode:ModuseruserModeuserMode::ModuserMode:e:e:erMuserMode:odeuserMode:ususerModeuseuseruserMode:Mode:ruserMode:Mode::erMode::ModeuuseuserModeuserMode::rModuserMode:e:serMuseruserMode:Mode:ode::0]userMode:, rt->tuseuseruserMode:Mode:rususeuseruseruseuserMode:rMode:Mode:Mode:ruserususerMode:erModuserModeuserMode::e:Mode:ModuseruserMode:Mode:e:euserMode:usususerMode:erMode:erMuserMode:ode:rModususeruserModeuseruserMode:Mode::Mode:erMode:e:ModeuuseuserMode:rMode:seuserMode:rMuseuserMode:ruserMode:Mode:ouserMode:de::f[userMode:1userMode:useuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMode:MouseruserMode:Mode:de:rModeuserMode::]useruserMode:Mode:, 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rt-userMuserMode:oduseruseruserMode:Mode:Mode:e:userModeuseuserModeuserMode::ruserMode:MuseruserMouserMode:de:Mode:oduserMode:userMuserMode:ode:euserMode:usuuserMode:serMode:erMode:::uusususerMode:erMode:erMuserMode:ode:seruseruseuserMode:rMode:MouserMode:de:ModuserMode:e:useususerMode:erMouserMouserMode:de:de:userMode:ruuserMouserModeuserMode::de:seuserMouseruserMouserMode:deuserModeuserMode:::Mode:de:rMode:MouseuseuserModuserMode:euserMode::rMode:ruseruserMode:Mode:Mode:de:userususerMode:euserMode:ruserMode:MouserMode:de:Mode:uususerModeuseuserMode:rMode::erModeuserMode::suseruserMode:Mode:useruuseuserMode:rMode:serModuseruserMouserMode:de:ModeuserModeuserMode:::euserMode::userMode:ModuuserMode:serMode:e:eruususerModuserMode:e:erMode:seruserMuseruseruserModeuserMode::ModuseruserMode:Mode:e:Mode:ode:ModeususerMode:erMouserModuserMode:e:de::Mode:useuseruseususerModuserMode:euseruserMode:Mode::euuserMode:seruserMode:Mode:Mode:MuserMouserMode:de:odeuserMouserMode:de::userModuseuserModeuserMode::rModeuserMode::e:rt->ususerususerMode:euseruseuseuserMode:rMode:rMode:Mode:rModeuserMode:uuserMode:serModuserModeuserMode::e::Mode:erEuuseruserMode:Mode:seuserModeuserModuserMode:e::rModuseuserMode:rMouseruserModeuserModeuserModeuserMode::::Mode:de:e:n", uuseruserMode:Mode:seuserususerMode:erModeuserMode::uuserMode:serMode:ModuserMode:e:userModeuserMode::rMuserMode:useruserMode:useruserMode:Mode:Mode:ouserMode:duserMode:e:ruserMode:tuserMouserMode:de:-ususeruserMode:Mode:erModeuserMode::>userMode:uususerModeuserMode::euuuserMode:seruseuserMode:rMuserMode:ode:MuserMode:ode:serModususeruserModeuserMode::Mode:erMode:useruserMode:Mode:e:MuserMode:uuserMode:suseuserMode:ususerMode:erMode:rModuseruserModeuserModeuserModeuserMode::::MouseuserMode:rMode:deuserMouserMode:de::e:erMode:ode::ususerMode:erMode:Mode)userMode:userMode:anuserMouserMode:deuseruserModeuserMode::Mode::duserMuseruseruserMode:Mode:ModuserMode:e:ouserMode:deuserususerMode:erMode:Mode:ususerMode:euserMode:rModeuserMode:::(userMode:rt->uuserModususerMode:erModeususerMode:erMode::euseruuserMode:serMode:MouserMode:de::uuserMode:userMode:suserModuserMode:e:erModuuserMode:serModuserModeuserMode::euserMode::userModuserMode:e:e:.cpp:	ususeruserMouserMode:duserModuserMode:e:e:Mode:eruususerMode:erMode:serMode:Mode:userModeuserMode::		userMuseususerMode:erMode:ruserMode:Mode:ouserMuseuserMode:rMode:ode:deuuseruserModeuserMode::MouserMode:duseuserMode:rMode:e:userMode:suserMode:erMouserMode:de:userMode::		userMode:iuserMode:f(useruseuseuseruserMode:Mode:rususerMode:useuseruserModuserMode:e:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:oduserMode:e:rMouseuserMode:rMode:de:MuseruserMode:MuserModeususerMode:erModuserMode:e::ode:odeuserMouserMode:duserModuserMode:e:e:ususerModeuserMode::eruserMode:MuserMode:ouserMouserMode:de:de::rt->muserMode:uuuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuseuserMode:rMode:::userMode:rMode:ePauserMuserMode:ode:ramuseuserMode:rModeuserMode::eters(rt->a0useruserMode:MoususeuuserMode:serModeuserModuserMode:e::rModeuserMode::euserMode:rMode:deuserMuuserModeuserMode::suserMouserMode:de:erModeuserMuserMode:ode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserModeuserMode::duserMode:e:euserMode:::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euserMode:uuseuserMode:rMode:serMuserMode:ode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:eruseruserMode:Mode:Mode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserModuserMode:e:de:userMode:useuseruserModuserMode:e:ModuserMode:e:ruserMode:Mode:auuserMouseuserMode:rMuserMode:ode:userMode:duserMode:e:serMuserModeuserMode::oduseruseuuseuserMode:rMode:serMouserMode:duserMode:e:rMouseruserModuserModuserMode:e:e:ModeuserMouserMode:de::de:MuuuserMode:serMuserMode:ode:seuserMouserMode:de:rMode:ode:e:ususerMouserMode:de:erMode:3useuserMode:rMode:,rtuseruseruseruserModuseruserMode:ModuserMode:e:e:Mode:ModuserMode:e:userMode:userMode:Mode:userMode:-userMouserModeuserMode::de:>tf, 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userMouserMode:de:useruseruserMuserMode:ode:ModuserMode:e:Mode:57ususerMuuseruuserMode:serMode:Mode:serMode:ouserMode:de:eususerMode:euserMode:rMuserModeuserMode::oduserModeuuserMode:serMode::useruserMode:Mode:e:userMode:ruuserMode:serMouserMode:de:Mode:.useruuseuserMode:rMode:serMode:MouserMode:deuserMode::3*userMode:rt-uuuseuserMode:userMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususeruserMode:Mode:eruseruserMode:Mode:MuserMode:odeuserMode::MuserModeuserMode::odeuseuserMuserMode:ode:userMode:rususerMode:useruserMode:Mode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserModuserMode:e:de:userMode:MuserModuseruserMode:Mode:e:userMode:ode:userMode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:userMode:Mode:57.3*userMode:rt->userMouserMode:deuserModeuserMode:::quseruserMuseruserMode:Mode:ode:Mode:[uususeruserMode:ModuserMode:e:erMode:useuserMode:rMuserMode:oususerMode:eruseuseuserMode:rMode:rMode:Mode:de:userModuserMode:euseruseuserMode:rMuserMode:ode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouuserMode:serMode:deuserModeususerMode:erMode:::duserMode:euserMouserMode:de:uuserMode:suserMode:erMode::ode:erMuuuseuserMode:rMode:serMouserMode:de:serMouserModeuserMode:userMode::de:ouserMode:deuserMode::3],uuserMode:serMouserMode:userMode:userMode:de: 57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erModeuserMode:::q[4uuserMuserMode:ode:suserMususerMode:erModuserMode:e:ode:eruserususerMode:erMode:Mode:Mode:]ususerMode:euserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:userMode:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:oduserMode:e:useuserMode:rMode:Mode:seruserMode:MouserMode:userMode:de:userMode:erMouseuserMode:rModuserMode:e:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuuserMode:serMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMusuuserMode:serModuserModususerMode:erMode:euserMode::euserMode::erMouseuseruserMode:Mode:rMode:de:oduseruserMode:Mode:e:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MousususerMode:erMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:useruserMode:Mode:serMode:e:userMode:userMuserMode:userModuuserMode:seuserMode:rMode:e:ouseuserMode:ruserMode:Mode:ususeuserMode:ruseruserMode:ModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserMouserMode:deuserMode::rMode:seruserMode:ModeuserMode:uuseuserMode:rMode:userModeuserMode::serMode::ususerMouserMode:de:erMuserMode:oduserMouserMode:deuserMode:uuserMode:seuserMode:rMouserMode:de::e:ususerMode:erMode:useruseuserMode:rMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:userMode:->q_useruuserMode:seuserMode:rMode:MouserMode:duserMode:e:desuserMode:useruuserMode:serMuserMode:ouserMode:duseruserMode:ModuserMuserMode:oduserMode:e:e:e:Mode:[userMode:ususerMode:erMode:ususerMode:uuserMode:serMuserMode:userMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruususerMode:erMode:seruserMode:MouserMode:de:Mode:7userModuuseuserMode:rMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMuserMode:ode:rt->userMode:quuserMode:seuuserModeuuserMode:rMuserMode:ode::es[3],uuserMode:serMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeususerMuserMode:ode:erMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuseuserMode:rMuserMode:ode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserModuserMode:e:serMode:userMuserMode:ode:ModuuserMode:seuserMode:rMode:e:de:>userMode:q_desuuseuserMode:rMode:seruserMouserMode:duuserMode:seruserMuserMode:ode:MouserMode:deuseruserMouseruserMode:Mode:de:Mode::e:ususerMode:eruserModeuserMode::ModeususerMode:eruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMuserMode:ode:de:userMode:useruseruserMode:Mode:MususerMode:userMouserMuserMode:odeuserMode::de:erMususeruserMoususerMode:erMouserMode:deuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerModuserMode:e:erMode:rMode:de:ouserMode:useruserMode:ModuserMode:e:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serModeuserMode::serModeuserMuserMode:oduserMode:userMode:e::seruserMode:MouserMode:duserMode:euserMode:useuserMode:rMode::seruserususerMode:erMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:		userMode:	userMode:	userMode:userMode:57.3*ruserMode:tuserMode:->duserMode:q[userMode:0userMode:userModeuuserMode:serMode::],uuseruserMuserMode:userMode:ode:MuserMususerMode:erMode:ouserMode:de:ode:serMode: 57.useruserModuserMode:e:Mode:uuserMode:useruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duserMode:uuserMususerMode:erMode:ode:serModuserMode:userModeuserMode:useruserMode:Mode::euserMouseuserMode:rMode:de::q[userMode:1]uuserModeuserMode::serMode:,userususerMode:erMode:MuserMode:ode:useruseruserMode:Mode:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseususerMode:erMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suseuserMode:rMode:euserMode:rModeuseuserMode:rModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:oduseuserMode:rMode:e::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:userMode:useususeruseuserMode:rMode:Mode:erMuserMode:ode:rMouuuserModeuserMode::serMode:serMode:userModeuserMode::deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuususerMode:erMode:serMode:userMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euserModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:MouserMode:duserMode:e:Mode:userMode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serModuserMode:e:nter_org.userMode:cpp:		userMode:		5ususerMode:erususerMode:erMode:ModeuserMuserMode:ode::7.uuserMode:serMode:3*rt-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::uuserModeuserMode::suseuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuserMode:useuserMode:rModuserMode:e::ode:seruserMode:userMode:ModuserMode:e:eruserMode:uuserMode:serMode:userModuuserMode:serMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMuserMode:ouserMode:userMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseuserMode:ruserMode:Mode:userMouserMode:de:MouserModeuserMode::de:userusuuserModuserMode:e:seruseuserMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deususerMode:erMode::3*userMode:rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuseruserMode:Mode::ouserMode:duserMode:e:userMouuserMode:serMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserMouserMode:duserMode:euserModeuserMode:::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:userMode:deuserMode::uuserModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:useruserMode:Mode:rMode:u[userMouserModeuuserMode:serMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMususerMode:erMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:useuserMode:rMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserModeuserMode::e:ModuserususerMode:erMode:Mode:e:deuseuserMode:rMouserMode:duserMoususerMode:euserModuserMode:e:rModeuserMode::de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMuserMode:ode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:MuserMode:odeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserModuserMode:e:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:userMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuseuserMode:rMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouuserMode:seuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:seruserMode:Mode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMouserMode:de::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModuserMode:eususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ouserMode:de:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MuserMode:ouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMouserMode:de:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuseuserMode:rMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:suserMode:erMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserMode:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uusususerMode:erMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModususerMode:erMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seususerMode:erMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMuserMode:ode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:userMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruseruserMode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:ruseruserModeuserMode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerModeuseruserMode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuuserMode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouserMode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
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userMouserModuserMode:e:de:rt-userMode:userMouseruserModeuserMususerMode:erMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:useuserMode:rMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserModeuserMode::e:ModuserususerMode:erMode:Mode:e:deuseuserModeuserMode::rMouserMode:duserMoususerMode:euserModuserMode:e:rModeuserMode::de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMuserMode:ode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:MuserMode:odeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserModuserMode:e:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:userMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuseuserMode:rMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouuserMode:seuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:seruserMode:Mode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMouserMode:de::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModuserMode:eususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ouserMode:de:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MuserMode:ouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMouserMode:de:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuseuserMode:rMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:suserMode:erMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouserMuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserModuserMode:e:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uusususerMode:erMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModususerMode:erMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seususerMode:erMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMuserMode:ode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:ususerMode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruseruserMode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:ruseruserModeuserMode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerModeuseruserMode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuuserMode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:seuserMode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] 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rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseruseruserMode:Mode:Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMode:euserMode:useruserMouseruserMode:ModeuserMode::duseruserMode:ModeuseruseruserMode:Mode:Mode::e:Mode:rMouserususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:Mode:uuseruseruserMode:ModeuserMode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-userMode:>tuserMode:f[usuuserMode:serModususerMode:eruseruserMode:Mode:ModuserMode:e:e:erususeruuserMode:suserMode:erMode:ModuseruserModeuserMode::ModuserMode:e:e:erMuserMode:odeuserMode:ususerModeuseuseruserMode:Mode:ruserMode:Mode::erMode::ModeuuseuserModeuserMode::rModuserMode:e:serMuseruserMode:Mode:ode::0]userMode:, rt->tuseuseruserMode:Mode:rususeuseruseruseuserMode:rMode:Mode:Mode:ruserususerMode:erModuserModeuserMode::e:Mode:ModuseruserMode:Mode:e:euserMode:usususerMode:erMode:erMuserMode:ode:rModususeruserModeuseruserMode:Mode::Mode:erMode:e:ModeuuseuserMode:rMode:seuserMode:rMuseuserMode:ruserMode:Mode:ouserMode:de::f[userMode:1userMode:useuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMode:MouseruserMode:Mode:de:rModeuserMode::]useruserMode:Mode:, 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rt-userMuserMode:oduseruseruserMode:Mode:Mode:e:userModeuseuserModeuserMode::ruserMode:MuseruserMouserMode:de:Mode:oduserMode:userMuserMode:ode:euserMode:usuuserMode:serMode:erMode:::uusususerMode:erMode:erMuserMode:ode:seruseruseuserMode:rMode:MouserMode:de:ModuserMode:e:useususerMode:erMouserMouserMode:de:de:userMode:ruuserMouserModeuserMode::de:seuserMouseruserMouserMode:deuserModeuserMode:::Mode:de:rMode:MouseuseuserModuserMode:euserMode::rMode:ruseruserMode:Mode:Mode:de:userususerMode:euserMode:ruserMode:MouserMode:de:Mode:uususerModeuseuserMode:rMode::erModeuserMode::suseruserMode:Mode:useruuseuserMode:rMode:serModuseruserMouserMode:de:ModeuserModeuserMode:::euserMode::userMode:ModuuserMode:serMode:e:eruususerModuserMode:e:erMode:seruserMuseruseruserModeuserMode::ModuseruserMode:Mode:e:Mode:ode:ModeususerMode:erMouserModuserMode:e:de::Mode:useuseruseususerModuserMode:euseruserMode:Mode::euuserMode:seruserMode:Mode:Mode:MuserMouserMode:de:odeuserMouserMode:de::userModuseuserModeuserMode::rModeuserMode::e:rt->ususerususerMode:euseruseuseuserMode:rMode:rMode:Mode:rModeuserMode:uuserMode:serModuserModeuserModuserMode:e::e::Mode:erEuuseruserMode:Mode:seuserModeuserModuserMode:e::rModuseuserMode:rMouserMode:useruserModeuserModeuserModeuserMode::::Mode:de:e:n", uuseruserMode:Mode:seuserususerMode:erModeuserMode::uuserMode:serMode:ModuserMode:e:userModeuserMode::rMuserMode:useruserMode:useruserMode:Mode:Mode:ouserMode:duserMode:e:ruserMode:tuserMouserMode:de:-ususeruserMode:Mode:erModeuserMode::>userMode:uususerModeuserMode::euuuserMode:seruseuserMode:rMuserMode:ode:MuserMode:ode:serModususeruserModeuserMode::Mode:erMode:useruserMode:Mode:e:MuserMode:uuserMode:suseuserMode:ususerMode:erMode:rModuseruserModeuserModeuserModeuserMode::::MouseuserMode:rMode:deuserMouserMode:de::e:erMode:ode::ususerMode:erMode:Mode)userMode:userMode:anuserMouserMode:deuseruserModeuserMode::Mode::duserMuseruseruserMode:Mode:ModuserMode:e:ouserMode:deuserususerMode:erMode:Mode:ususerMode:euserMode:rModeuserMode:::(userMode:rt->uuserModususerMode:erModeususerMode:erMode::euseruuserMode:serMode:MouserMode:de::uuserMode:userMode:suserModuserMode:e:erModuuserMode:serModuserModeuserMode::euserMode::userModuserMode:e:e:.cpp:	ususeruserMouserMode:duserModuserMode:e:e:Mode:eruususerMode:erMode:serMode:Mode:userModeuserMode::		userMuseususerMode:erMode:ruserMode:Mode:ouserMuseuserMode:rMode:ode:deuuseruserModeuserMode::MouserMode:duseuserMode:rMode:e:userMode:suserMode:erMouserMode:de:userMode::		userMode:iuserMode:f(useruseuseuseruserMode:Mode:rususerMode:useuseruserModuserMode:e:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:oduserMode:e:rMouseuserMode:rMode:de:MuseruserMode:MuserModeususerMode:erModuserMode:e::ode:odeuserMouserMode:duserModuserMode:e:e:ususerModeuserMode::eruserMode:MuserMode:ouserMouserMode:de:de::rt->muserMode:uuuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuseuserMode:rMode:::userMode:rMode:ePauserMuserMode:ode:ramuseuserMode:rModeuserMode::eters(rt->a0useruserMode:MoususeuuserMode:serModeuserModuserMode:e::rModeuserMode::euserMode:rMode:deuserMuuserModeuserMode::suserMouserMode:de:erModeuserMuserModeuserMode::ode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserModeuserMode::duserMode:e:userMode:euserMode:::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euserMode:uuseuserMode:rMode:serMuserMode:ode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:eruseruserMode:Mode:Mode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserModuserMode:e:de:userMode:useuseruserModuserMode:e:ModuserMode:e:ruserMode:Mode:auuserMouseuserMode:rMuserMode:ode:userMode:duserMode:e:serMuserModeuserMode::oduseruseuuseuserMode:rMode:serMouserMode:duserMode:e:rMouseruserModuserModuserMode:e:e:ModeuserMouserMode:de::de:MuuuserMode:serMuserMode:ode:seuserMouserMode:de:rMode:ode:e:ususerMouserMode:de:erMode:3useuserMode:rMode:,rtuseruseruseruserModuseruserMode:ModuserMode:e:e:Mode:ModuserMode:e:userMode:userMode:Mode:userMode:-userMouserModeuserMode::de:>tf, 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userMouserMode:de:useruseruserMuserMode:ode:ModuserMode:e:Mode:57ususerMuuseruuserMode:serMode:Mode:serMode:ouserMode:de:eususerMode:euserMode:rMuserModeuserMode::oduserModeuuserMode:serMode::useruserMode:Mode:e:userMode:ruuserMode:serMouserMode:de:Mode:.useruuseuserMode:rMode:serMode:MouserMode:deuserMode::3*userMode:rt-uuuseuserMode:userMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususeruserMode:Mode:eruseruserMode:Mode:MuserMode:odeuserMode::MuserModeuserMode::odeuseuserMuserMode:ode:userMode:rususerMode:useruserMode:Mode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserModuserMode:e:de:userMode:MuserModuseruserMode:Mode:e:userMode:ode:userMode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:userMode:Mode:57.3*userMode:rt->userMouserMode:deuserModeuserMode:::quseruserMuseruserMode:Mode:ode:Mode:[uususeruserMode:ModuserMode:e:erMode:useuserMode:rMuserMode:oususerMode:eruseuseuserMode:rMode:rMode:Mode:de:userModuserMode:euseruseuserMode:rMuserMode:ode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouuserMode:serMode:deuserModeususerMode:erMode:::duserMode:euserMouserMode:de:uuserMode:suserMode:erMode::ode:erMuuuseuserMode:rMode:serMouserMode:de:serMouserModeuserMode:userMode::de:ouserMode:deuserMode::3],uuserMode:serMouserMode:userMode:userMode:de: 57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erModeuserMode:::q[4uuserMuserMode:ode:suserMususerMode:erModuserMode:e:ode:eruserususerMode:erMode:Mode:Mode:]ususerMode:euserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:userMode:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:oduserMode:e:useuserMode:rMode:Mode:seruserModeuserMode::MouserMode:userMode:de:userMode:erMouseuserMode:rModuserMode:e:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuuserMode:serMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMusuuserMode:serModuserModuserMode:ususerMode:erMode:euserMode::euserMode::erMouseuseruserMode:Mode:rMode:de:oduseruserMode:Mode:e:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MousususerMode:erMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:useruserMode:Mode:serMode:e:userMode:userMuserMode:userModuuserMode:seuserMode:rMode:e:ouseuserMode:ruserMode:Mode:ususeuserMode:ruseruserMode:ModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserMouserMode:deuserMode::rMode:seruserMode:ModeuserMode:uuseuserMode:rMode:userModeuserMode::serMode::ususerMouserMode:de:erMuserMode:oduserMouserMode:deuserMode:uuserMode:seuserMode:rMouserMode:de::e:ususerMode:erMode:useruseuserMode:rMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:userMode:->q_useruuserMode:seuserMode:rMode:MouserMode:duserMode:e:desuserMode:useruuserMode:serMuserMode:ouserMode:duseruserMode:ModuserMuserMode:oduserMode:e:e:e:Mode:[userMode:ususerMode:erMode:ususerMode:uuserMode:serMuserMode:userMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModuserMode:e:userMode:eruususerMode:erMode:seruserMode:MouserMode:de:Mode:7userModuuseuserMode:rMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMuserMode:ode:rt->userMode:quuserMode:seuuserModeuuserMode:rMuserMode:ode::es[3],uuserMode:serMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5useruserMode:ModeususerMuserMode:ode:erMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuseuserMode:rMuserMode:ode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserModuserMode:e:serMode:userMuserMode:ode:ModuuserMode:seuserMode:rMode:e:de:>userMode:q_desuuseuserMode:rMode:serususerMode:erMouserMode:duuserMode:seruserMuserMode:ode:MouserMode:deuseruserMouseruserMode:Mode:de:Mode::e:ususerMode:eruserModeuserMode::ModeususerMode:eruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMuserMode:ode:de:userMode:useruseruserMode:Mode:MususerMode:userMouserMuserMode:odeususerMode:erMode::de:erMususeruserMoususerMode:erMouserMode:deuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerModuserMode:e:erMode:rMode:de:ouserMode:useruserMode:ModuserMode:e:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serModeuserMode::serModeuserMuserMode:oduserMode:userMode:e::seruserMode:MouserMode:duserMode:euserMode:useuserMode:rMode::seruserususerMode:erMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:		userMode:	userMode:	userMode:userMode:57.3*ruserMode:tuserMode:->duserMode:q[userMode:0userMode:userModeuuserMode:serMode::],uuseruserMuserMode:userMode:ode:MuserMususerMode:erMode:ouserMode:de:ode:serMode: 57.useruserModuserMode:e:Mode:uuserMode:useruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duserMode:uuserMususerMode:erMode:ode:serModuserMode:userModeuserMode:useruserMode:Mode::euserMouseuserMode:rMode:de::q[userMode:1]uuserModeuserMode::serMode:,userususerMode:erMode:MuserMode:ode:useruseruserMode:Mode:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:userMode:],uuseususerMode:erMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suseuserMode:rMode:euserMode:rModeuseuserMode:rModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:oduseuserMode:rMode:e::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rModuserMode:e:oduseruserModuserMode:e:Mode:userMode:useususeruseuserMode:rMode:Mode:erMuserMode:ode:rMouuuserModeuserMode::serMode:serMode:userModeuserMode::deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuususerMode:erMode:serMode:userMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euuserMode:serModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:MouserMode:duserMode:e:Mode:userMode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serModuserMode:e:nter_org.userMode:cpp:		userMode:		5ususerMode:erususerMode:erMode:ModeuserMuserMode:ode::7.uuserMode:serMode:3*ruserMode:t-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::uuserModeuserMode::suseuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuserMode:useuserMode:rModuserMode:e::ode:seruserMode:userMode:ModuserMode:e:eruserMode:uuserMode:serMode:userModuuserMode:serMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMuserMode:ouserMode:userMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseuserMode:ruserMode:Mode:userMouserMode:de:MouserModeuserMode::de:userusuuserModuserMode:e:seruseuserMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deususerMode:erMode::3*userMode:rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuseruserMode:Mode::ouserMode:duserMode:e:userMouuserMode:serMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserMouserMode:duserMode:euserModeuserMode:::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:userMode:deuserMode::uuserModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:userMode:erMode:useruserMode:Mode:rMode:u[userMouserModeuuserMode:serMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:userMode:rt-userMode:userMouseruserModeuserMususerMode:erMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:useuserMode:rMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserModeuserMode::e:ModuserususerMode:erMode:Mode:e:deuseuserModeuserMode::rMouserMode:duserMoususerMode:euserModuserMode:e:rModeuserMode::de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMuserMode:ode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:MuserMode:odeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserModuserMode:e:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:userMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuseuserMode:rMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouuserMode:seuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:seruserMode:Mode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMouserMode:de::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModuserMode:eususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ouserMode:de:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MuserMode:ouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuserMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMouserMode:de:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuseuserMode:rMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:suserMode:erMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouseruserMode:MuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserModuserMode:e:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uusususerMode:erMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModususerMode:erMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seususerMode:erMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMuserMode:ode:serMode:ModeuserModeuseuserModuserMode:e:rMode:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:ususerMode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruseruserMode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:ruseruserModeuserMode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerModeuseruserMode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuuserMode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserMode:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: 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userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: 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userMouserModuserMode:e:de:userMode:rt-userMode:userMouseruserModeuserMususerMode:erMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:useuserMode:rMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserModeuserMode::e:ModuserususerMode:erMode:Mode:e:deuseuserModeuserMode::rMouserMode:duserMoususerMode:euserModuserMode:e:rModeuserMode::de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMuserMode:ode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:MuserMode:odeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserModuserMode:e:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:userMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuseuserMode:rMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouuserMode:seuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:seruserMode:Mode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMouserMode:de::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuserMode:rMode:rMode:useuserMode:rModuserMode:eususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ouserMode:de:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MuserMode:ouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuuserMode:serMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMouserMode:de:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuseuserMode:rMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:suserMode:erMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouseruserMode:MuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserModuserMode:e:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uusususerMode:erMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModususerMode:erMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seususerMode:erMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMuserMode:ode:serMode:ModeuserModeuseuserModuserMode:e:rModuserMode:e:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:ususerMode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruseruserMode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:ruseruserModeuserMode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerModeuseruserMode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euserMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuserMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] 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rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseruseruserMode:Mode:Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], 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userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:Mode:serMode:useruserMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, 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uuseruserMode:Mode:seuserususerMode:erModeuserMode::uuserMode:serMode:ModuserMode:e:userModeuserMode::rMuserMode:useruserMode:useruserMode:Mode:Mode:ouserMode:duserMode:e:ruserMode:tuserMouserMode:de:-ususeruserMode:Mode:erModeuserMode::>userMode:uususerModeuserMode::euuuserMode:seruseuserMode:rMuserMode:ode:MuserMode:ode:serModususeruserModeuserMode::Mode:erMode:useruserMode:Mode:e:MuserMode:uuserMode:suseuserMode:ususerMode:erMode:rModuseruserModeuserModeuserModeuserMode::::MouseuserMode:rMode:deuserMouserMode:de::e:erMode:ode::ususerMode:erMode:Mode)userMode:userMode:anuserMouserMode:deuseruserModeuserMode::Mode::duserMuseruseruserMode:Mode:ModuserMode:e:ouserMode:deuserususerMode:erMode:Mode:ususerMode:euserMode:rModeuserMode:::(userMode:rt->uuserModususerMode:erModeususerMode:erMode::euseruuserMode:serMode:MouserMode:de::uuserMode:userMode:suserModuserMode:e:erModuuserMode:serModuserModeuserMode::euserMode::userModuserMode:e:e:.cpp:	ususeruserMouserMode:duserModuserMode:e:e:Mode:eruususerMode:erMode:serMode:Mode:userModeuserMode::		userMuseususerMode:erMode:ruserMode:Mode:ouserMuseuserMode:rMode:ode:deuuseruserModeuserMode::MouserMode:duseuserMode:rMode:e:userMode:suserMode:erMouserMode:de:userMode::		userMode:iuserMode:f(useruseuseuseruserMode:Mode:rususerMode:useuseruserModuserMode:e:Mode:ruserMode:Mode:erMode:MuseuserMode:rMode:oduserMode:e:rMouseuserMode:rMode:de:MuseruserMode:MuserModeususerMode:erModuserMode:e::ode:odeuserMouserMode:duserModuserMode:e:e:ususerModeuserMode::eruserMode:MuserMode:ouserMouserMode:de:de::rt->muserMode:uuuserMouserMode:de:serMode:useuserMode:ruserMode:Mode:e:ModeuserMuseruserMode:Mode:odeuseuserMode:rMode:::userMode:rMode:ePauserMuserMode:ode:ramuseuserModuserMode:e:rModeuserMode::eters(rt->a0useruserMode:MoususeuuserMode:serModeuserModuserMode:e::rModeuserMode:userMode::euserMode:rMode:deuserMuuserModeuserMode::suserMouserMode:de:erModeuserMuserModeuserMode::ode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserModeuserMode::duserMode:e:userMode:euserMode:::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:euserMode:uuseuserMode:rMode:serMuserMode:ode::MuserMode:ouseruserususerModeuserMode::euuserMode:suserMode:eruseruserMode:Mode:Mode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:serMode:e:de:t->userMouserModuserMode:e:de:userMode:useuseruserModuserMode:e:ModuserMode:e:ruserMode:Mode:auuserMouseuserMode:rMuserMode:ode:userMode:duserMode:e:serMuserModeuserMode::oduseruseuuseuserMode:rMode:serMouserMode:duserMode:e:rMouseruserModuserModuserMode:e:e:ModeuserMouserMode:de::de:MuuuserMode:serMuserMode:ode:seuserMouserMode:de:rMode:ode:e:ususerMouserMode:de:erMode:3useuserMode:rMode:,rtuseruseruseruserModuseruserMode:ModuserMode:e:e:Mode:ModuserMode:e:userMode:userMode:Mode:userMode:-userMouserModeuserMode::de:>tf, 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ususerMode:erMode:uuserMode:userMouserMouseruserMode:Mode:deuserMode::deuserMode::useuserMode:rMouserMode:de:serMuseuseruserMode:userMode:MouserMode:de:useuserMode:rMouserMuseuseruserMode:Mode:rMode:ode:de:rMode:ouseuserModuserMode:e:rMode:duserMode:e:useuserMode:rMode:seuserMode:rvuserModeususerMode:erModeususeruserMode:Mode:erMode:::o loususerMouserMode:de:erMode:uuserMode:serModuserMouserMode:de:e:ouserModuserMode:e:p userMode:cuserMode:ouseruserMode:Mode:uuserMode:nuuserMode:serMuserMode:ouserModuserModeuserMode::e:userMode:de:t userMususerMode:eruserMode:Mode:odeuserMouseruserMode:Mode:de:userMode::6.1f, userMode:userMode: %d\nuuserMode:serusususeuserMode:rMode:euserMode:ususerMode:erMuserMode:ode:rMouseruserModeuserMode::Mode:de:erMode:MouuserModeuserMode::suseruuserMode:serModeuserMode::Mode:userMode:eruserModeuserMode::userMode:MuuseuserMode:ruserMode:Mode:seuserMode:rMode:ode:de:", 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userMouserMode:de:useruseruserMuserMode:ode:ModuserMode:e:Mode:57ususerMuuseruuserMode:serMode:Mode:serMode:ouserMode:de:eususerMode:euserMode:rMuserModeuserMode::oduserModeuuserMode:serMode::useruserMode:Mode:e:userMode:ruuserMode:serMouserMode:de:Mode:.useruuseuserMode:rMode:serMode:MouserMode:deuserMode::3*userMode:rt-uuuseuserMode:userMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususeruserMode:Mode:eruseruserMode:Mode:MuserMode:odeuserMode::MuserModeuserMode::odeuseuserMuserMode:ode:userMode:rususerMode:useruserMode:Mode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouserModuserMode:e:de:userMode:MuserModuseruserMode:Mode:e:userMode:ode:userMode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:userMode:Mode:57.3*userMode:rt->userMouserMode:deuserModeuserMode:::quseruserMuseruserMode:Mode:ode:Mode:[uususeruserMode:ModuserMode:e:erMode:useuserMode:rMuserMode:oususerMode:eruseuseuserMode:rMode:rMode:Mode:de:userModuserMode:euseruseuserMode:rMuserMode:ode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouuserMode:serMode:deuserModeususerMode:erMode:::duserMode:euserMouserMode:de:uuserMode:suserMode:erMode::ode:erMuuuseuuserMode:serMode:rMode:serMouserMode:de:serMouserModeuserMode:userMode::de:ouserMode:deuserMode::3],uuserMode:serMouserMode:userMode:userMode:de: 57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erModeuserMode:::q[4uuserMuserMode:ode:suserMususerMode:erModuserMode:e:ode:eruserususeuserMode:rMode:erMode:Mode:Mode:]ususerMode:euserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:userMode:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:oduserMode:e:useuserMode:rMode:Mode:seruserModeuserMode::MouserMode:userMode:de:userMode:erMouseuserMode:rModuserMode:e:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuuserMode:serMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMusuuserMode:serModuserModuserMode:ususerMode:erMode:euserMode::euserMode::erMouseuseruserMode:Mode:rMode:de:oduseruserMode:Mode:e:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MousususerMode:erMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:useruserMode:Mode:serMode:e:userMode:userMuserMode:userModuuserMode:seuserMode:rMode:e:ouseuserMode:ruserMode:Mode:ususeuserMode:ruseruserMode:ModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserMouserMode:deuserMode::rMode:seruserMode:ModeuserMode:uuseuserMode:rMode:userModeuserMode::serMode::ususerMouserMode:de:erMuserMode:oduserMouserMode:deuserMode:uuserMode:seuserMode:rMouserMode:de::e:ususerMode:erMode:useruseuserMode:rMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:userMode:->q_useruuserMode:seuserMode:rMode:MouserMode:duserMode:e:desuserMode:useruuserMode:serMuserMode:ouserMode:duseruserMode:ModuserMuserMode:oduserMode:e:e:e:Mode:[userMode:ususerMode:erMode:ususerMode:uuserMode:serMuserMode:userMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModususerMode:erMode:e:userMode:eruususerMode:erMode:seruserMode:MouserMode:de:Mode:7userModuuseuserMode:rMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMuserMode:ode:rt->userMode:quuserMode:seuuserModeuuserMode:rMuserMode:ode::es[3],uuserMode:serMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5uuserMode:seruserMode:ModeususerMuserMode:ode:erMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuseuserMode:rMuserMode:ode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserModuserMode:e:serMode:userMuserMode:ode:ModuuserMode:seuserMode:rMode:e:de:>userMode:q_desuuseuserMode:rMode:serususerMode:erMouserMode:duuserMode:seruserMuserMode:ode:MouserMode:deuseruserMouseruserMode:Mode:de:Mode::e:ususerMode:eruserModeuserMode::ModeususerMode:eruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMuserMode:ode:de:userMode:useruseruserMode:Mode:MususerMode:userMouserMuserMode:odeususerMode:erMode::de:erMususeruserMoususerMode:erMouserMode:deuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerModuserMode:e:erMode:rMode:de:ouserMode:useruserMode:ModuserMode:e:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serModeuserMode::serModeuserMuserMode:oduserMode:userMode:e::seruserMode:MouserMode:duserMode:euserMode:useuserMode:rMode::seruserususerMode:erMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:		userMode:	userMode:	userMode:userMode:57.3*ruserMode:tuserMode:->duserMode:q[userMode:0userMode:userModeuuserMode:serMode::],uuseruserMuserMode:userMode:ode:MuserMususerMode:erMode:ouserMode:de:ode:serMode: 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userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:ususerMode:erMode:],uuseususerMode:erMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suseuserMode:rMode:euserMode:rModeuseuserMode:rModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:oduseuserMode:rMode:e::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rMuserMode:oduserMode:e:oduseruserModuserMode:e:Mode:userMode:useususeruseuserMode:rMode:Mode:erMuserMode:ode:rMouuuserModeuserMode::serMode:serMode:userModeuserMode::deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuususerMode:erMode:serMode:userMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euuserMode:serModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:MouserMode:duserMode:e:Mode:userMode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serModuserMode:e:nter_org.userMode:cpp:		userMode:		5ususerMode:erususerMode:erMode:ModeuserMuserMode:ode::7.uuserMode:serMode:3*ruserMode:t-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::uuserModeuserMode::suseuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuserMode:useuserMode:rModuserMode:e::ode:seruserMode:userMode:ModuserMode:e:eruserMode:uuserMode:serMode:userModuuserMode:serMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMuserMode:ouserMode:userMode:duserMode:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseuserMode:ruserMode:Mode:userMouserMode:de:MouserModeuserMode::de:userusuuserModuserMode:e:seruseuserMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deususerMode:erMode::3*userMode:rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuseruserMode:Mode::ouserMode:duserMode:e:userMouuserMode:serMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserMuserMode:ouserMode:duserMode:euserModeuserMode:::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:userMode:deuserMode::uuserModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:uuserMode:serMode:erMode:useruserMode:Mode:rMode:u[userMouserModeuuserMode:serMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:userMode:rt-userMode:userMouseruserModeuserMususerMode:erMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:useuserMode:rMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserModeuserMode::e:ModuserususerMode:erMode:Mode:e:deuseuserModeuserMode::rMouserMode:duserMoususerMode:euserModuserMode:e:rModeuserMode::de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMuserMode:ode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:MuserMode:odeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserModuserMode:e:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:userMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuseuserMode:rMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:ode:ouuserMode:seuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:seruserMode:Mode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMouserMode:de::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuseruserMode:Mode:rMode:rMode:useuserMode:rModuserMode:eususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ouserMode:de:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MuserMode:ouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuuserMode:serMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMouserMode:de:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuseuserMode:rMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:suserMode:erMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouseruserMode:MuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserModuserMode:e:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uusususerMode:erMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModususerMode:erMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seususerMode:erMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:userMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMuserMode:ode:serMode:ModeuserModeuseuserModuserMode:e:rModuserMode:e:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:ususerMode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruseruserMode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:ruseruserModeuserMode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e 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userMouserModuserMode:e:de:userMode:rt-userMode:userMouseruserModeuserMususerMode:erMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:useuserMode:rMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserModeuserMode::e:ModuserususerMode:erMode:Mode:e:deuseuserModeuserMode::rMouserMode:duserMoususerMode:euserModuserMode:e:rModeuserMode::de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMuserMode:ode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:MuserMode:odeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserModuserMode:e:e:e:ModuserMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:userMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuseuserMode:rMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:userMode:ode:ouuserMode:seuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:seruserMode:Mode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMouserMode:de::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuseruserMode:Mode:rMode:rMode:useuserMode:rModuserMode:eususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ouserMode:de:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MuserMode:ouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuuserMode:serMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMouserMode:de:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuseuserMode:rMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:suserMode:erMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouseruserMode:MuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserModuserMode:e:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uusususerMode:erMode:erMode:serMouserModeuserMode::uuserMode:serMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModususerMode:erMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:userMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seususerMode:erMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:userMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMuserMode:ode:serMode:ModeuserModeuseuserModuserMode:e:rModuserMode:e:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:ususerMode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruseruserMode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:ruseruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e = userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: 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rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:Mode:Mode:serMode:MuseruseruserMode:Mode:Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], 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0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, 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5userMode:7userMode:.3userModuserMuserMuserMode:ode:ode:e:*useruserMode:useruserMode:Mode:Mode:rt->q[useuserMode:rMuserModeuserMode::ode:useuseruserMode:Mode:userModeuserMusususerMode:erMode:erMode:ode::userMode:uuserMode:serMode:rMode:1]useruserMode:MouserModuserMode:e:deuserMode::, userMouserMode:de:useruseruserMuserMode:ode:ModuserMode:e:Mode:57ususerMuuseruuserMode:serMode:Mode:serMode:ouserMode:de:eususerMode:euserMode:rMuserModeuserMode::oduserModeuuserMode:serMode::useruserMode:Mode:e:userMode:ruuserMode:serMouserMode:de:Mode:.useruuseuserMode:rMode:serMode:MouserMode:deuserMode::3*userMode:rt-uuuseuserMode:userMode:userMode:rMode:serMouserMode:de:serMouserMode:de:uususeruserMode:Mode:eruseruserMode:Mode:MuserMode:odeuserMode::MuserModeuserMode::odeuseuserMuserMode:ode:userMode:rususerMode:useruserMode:Mode:erMode:useuserMode:ruseruserMode:Mode:userMode:MouuserMode:serModuserMode:e:de:userMode:MuserModuseruserMode:Mode:e:userMode:ode:userMode::puseruserMode:ModuserMode:e::		userMode:		useruserMode:userMode:Mode:57.3*userMode:rt->userMouserMode:deuserModeuserMode:::quseruserMuseruserMode:Mode:ode:Mode:[uususeruserMode:ModuserMode:e:erMode:useuserModuserMode:e:rMuserMode:oususerMode:eruseuseuserMode:rMode:rMode:Mode:de:userModuserMode:euseruseuserMode:rMuserMode:ode:ModeuseruserMode:MouserMode:de:::suserMuserMouserMuserMode:ouuserMode:serMode:deuserModeususerMode:erMode:::duserMode:euserMouserMode:de:uuserMode:suserMode:erMode::ode:erMuuuseuuserMode:serMode:rMode:serMouserMode:de:serMouserModeuserMode:userMode::de:ouserMode:deuserMode::3],uuserMode:serMouserMode:userMode:userMode:de: 57.userMode:3*rt->uuserModeuserMode::seruserMode:ModeususerMode:erModeuserMode:::q[4uuserMuserMode:ode:suserMususerMode:erModuserMode:e:ode:eruserususeuserMode:rMode:erMode:Mode:Mode:]ususerMode:euserMode:rMouserMode:deuserMuserMode:odususerMode:erMuserMode:ode:e::ususerMode:erMode:userMode:uuserMouserMode:de:userMode:seruserMode:ModuserModuseuserMode:rMode:e:e:userModusuuseruserMuseruserMode:Mode:oduserMode:e:useuserMode:rMode:Mode:seruserModeuserMode::MouserMode:userMode:de:userMode:erMouseuserMode:rModuserMode:e:deuseruserMode:Mode::e:userMode:useuserMode:ruserMode:MouserModuserMouserModuserMode:e:de:e:de:userModeuseuserModuuserMode:serMode:e:ruserMode:ModeuserMode:::userModeuserMode::ususerMode:userMode:erMusuuserMode:serModuserModuserMode:ususerMode:erMode:euserMode::euserMode::erMouseuseruserMode:Mode:rMode:de:oduseruserMode:Mode:e:userususerMode:euseuserMode:rMouserMouserMode:de:de:rMuseruserMode:userModeuserMode::Mode:userMode:ode:MousususerMode:erMode:erMode:duserususerMuserMode:oduserMode:e:erMode:Mode:uuserMode:useruserMode:Mode:serMode:e:userMode:userMuserMode:userModuuserMode:seuserMode:rMode:e:ouseuserMode:ruserMode:Mode:ususeuserMode:ruseruserMode:ModeuseuserMode:userMode:rMode::ModuserMode:e:userMode:erMouserModuseuserMode:rMode:e:de:de:uuseuserMouserMode:deuserMode::rMode:seruseuserMode:rMode:ModeuserMode:uuseuserMode:rMode:userModeuserMode::serMode::ususerMouserMode:de:erMuserMode:oduserMouserMode:deuserMode:uuserMode:seuserMode:rMouserMode:de::e:ususerMode:erMode:useruseuserMode:rMode:MuserModuserMouserMode:de:e:userMode:ode:userMode:tuseruuserMode:serModeuserMode::Mode:userMouserMode:de:->q_useruuserMode:seuserMode:rMode:MouserMode:duserMode:e:desuserMode:useruuserMode:serMuserMode:ouserMode:duseruserMode:ModuserMuserMode:oduserMode:e:e:e:Mode:[userMode:ususerMode:erMode:ususerMode:uuserMode:serMuserMode:userMode:ode:eususerMode:erMode:rMode:0], 5uuserMode:suseuserMode:rModususerMode:erMode:e:userMode:eruususerMode:erMode:seruserMode:MouserMode:de:Mode:7userModuuseuserMode:rMuserMode:ode:serMode:e:.userMuserMode:ode:3*userMuserMode:ode:rt->userMode:quuserMode:seuuserModeuuserMode:rMuserMode:ode::es[3],uuserMode:serMode:useruserModeuserMode::Mode: useruserMode:ModuserMode:e:5uuserMode:seruserMode:ModeususerMuserMode:ode:erMode::7.ususerMode:erMode:3*rt-useuseuseuserModeuseuserMode:rMuserMode:ode::rMode:rMuserMode:ode:usususerMouserMode:de:erMode:erMode:rMouseruuserModuserMode:e:serMode:userMuserMode:ode:ModuuserMode:seuserMode:rMode:e:de:>userMode:q_desuuseuserMode:rMode:serususerMode:erMouserMode:duuserMode:seruserMuserMode:ode:MouserMode:deuseruserMouseruserMode:Mode:de:Mode::e:ususerMode:eruserModeuserMode::ModeususerMode:eruserMuserModeuserMode::ode:Mode:::MoususerMode:userModuserMode:e:erMuserMode:ode:de:userMode:useruseruserMode:Mode:MususerMode:userMouserMuserMode:odeususerMode:erMode::de:erMususeruserMoususerMode:erMouserMode:deuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerModuserMode:e:erMode:rMode:de:ouserMode:useruserMode:ModuserMode:e:deuserMode::userMode:uuuserModeuserMode::uuuserMode:serModeuserMode::serModeuserMuserMode:oduserMode:userMode:e::seruserMode:MouserMode:duserMode:euserMode:useuserMode:rMode::seruserususerMode:erMode:Mode:userMode:ModeuseuseruuserModeuserMode::serMode:Mode:ruserMode:Mode::pp:userMode:		userMode:	userMode:	userMode:userMode:57.3*ruserMuserMode:ode:tuserMode:->duserMode:q[userMode:0userMode:userModeuuserMode:serMode::],uuseruserMuserMode:userMode:ode:MuserMususerMode:erMode:ouserMode:de:ode:serMode: 57.useruserModuserMode:e:Mode:uuserMode:useruserMode:Mode:userMode:serMode:userMode:3useruserMode:ModuserMode:euserModuserMode:e::*rt->duserMode:uususerMode:erMususerMode:erMode:ode:serModuserMode:userModeuserMode:useruserMode:Mode::euserMouseuserMode:rMode:de::q[userMode:1]uuserModeuserMode::serMode:,userususerMode:erMode:MuserMode:ode:useruseruserMode:Mode:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMode:Mode:e:ususerMode:erMode:],uuseususerMode:erMode:userMode:rModeuserMuserMode:ouserModuserMode:e:de::suseuserMode:rMode:euserMode:rModeuseuserMode:rModeuserMode::ususerMouserMode:deuserMuserMouserModeuserModuserMode:e::de:oduseuserMode:rMode:e::eruserModuserMode:e:userMode:usuuserMode:serMode:erMouserMode:de:MuseuserMode:rMuserMode:oduserMode:e:oduseruserModuserMode:e:Mode:userMode:useususeruseuserMode:rMode:Mode:erMuserMode:ode:rMouuuserModeuserMode::serMode:serMode:userModeuserMode::deuuserMode:serMode:userModuserMode:euserMode:::e:uususerModuserModuususerMode:erMode:serMode:userMode:useuserMode:ruserMode:MuserMode:oduserMode:e:euuserMode:serModuserMode:e::userMode:euserMode::eruserMoususerMode:erMode:de:MouserMode:duserMode:e:Mode:userMode:dususeuserMouserMode:de:rMode:erMode:e:MuseruserMode:Mode:ode:uuserMode:serModuserMode:e:nter_org.userMode:cpp:		userMode:		5ususerMode:erususerMode:erMode:ModeuserMuserMode:ode::7.uuserMode:serMode:3*ruserMode:t-userModeususerMode:erMode::>dqususeruserMode:Mode:erModeuuuseuserMode:rMode:serMode:serMode::uuserModeuserMode::suseuserMode:rMode:userMode:euserMode:ruseuserMode:ruuseruserMode:ModeuserMode::suuuserMode:serMuserModeuserMode:useuserMode:rModuserMode:e::ode:seruserMode:userMode:ModuserMode:e:eruserMode:uuserMode:serMode:userModuuserMode:serMode:e:ModuserMuserMuserMode:userMode:ode:odeuserMode::e:MususerMode:erususerModuserMode:e:erMuserMode:ouserMode:userMode:duserMouserMode:de:e:Mode:userMode:odeuserMode::MuserMode:ode:[3], 57.usuuserMode:serModuserMode:e:erMode:useruseuserMode:ruserMode:Mode:userMouserMode:de:MouserModeuserMode::de:userusuuserModuserMode:e:seruseuserMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:erMouuserMode:serMode:de:MouserMode:deususerMode:erMode::userMode:3*userMode:rt-userMode:Mode:, useruserMode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserMode::rModeuserMuserMuserMode:odeuseruserMode:Mode::ouserMode:duserMode:e:userMouuserMode:serMode:de::userModeuserMode::serModuserModuserMode:e:euserMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uuserMuserMode:ouserMode:duserMode:euserModeuserMode:::userMouserMode:de:serMouserMuserMode:ode:de:useuserMode:rModuserMouserMode:de:e:], rtuuserMode:serMouserMode:userMode:deuserMode::uuserModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauususerMode:erModeuserMode::userMode:userMode:seususeruserMode:Mode:erMode:ususerMode:uuserMode:serMode:erMode:useruserMode:Mode:rMode:u[userMouserModeuuserMode:serMode::useuserMouserMode:de:rMode:duseruserMode:Mode:e:userMode:3],useruserMode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:e:Mode: userMouserModuserMode:e:de:userMode:rt-userMode:userMouseruserModeuserMususerMode:erMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:useuserMode:rMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserModeuserMode::e:ModuserususerMode:erMode:Mode:e:deuseuserModeuserMode::rMouserMode:duserMoususerMode:euserModuserMode:e:rModeuserMode::de:euserMode::MuserMode:odeuserMode:::useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMuserMode:ode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:MuserMode:odeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserModuserMode:e:e:e:ModuseuserMode:rMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:userMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuseuserMode:rMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:userMode:ode:ouuserMode:seuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:seruserMode:Mode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMouserMode:de::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuseruserMode:Mode:rMode:rMode:useuserMode:rModuserMode:eususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ouserMode:de:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MuserMode:ouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuuserMode:serMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMouserMode:de:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuseuserMode:rMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:suserMode:erMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouseruserMode:MuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserModuserMode:e:userMode:seruserMode:Mode:seuserMode:ruserMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uusususerMode:erMode:erMode:serMouserModeuserMode::uuserMode:seuserMode:rMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModususerMode:erMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:userMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seususerMode:erMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:userMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMuserMode:ode:serMode:ModeuserModeuseuserModuserMode:e:rModuserMode:e:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserModeuserMode:::de:erMode:uuserMode:seruserMode:uuserMode:serMode:MuserMode:ouserMode:de:userMode:userMode:userMode:>useuserModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:ususerMode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruseruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:ruseruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMode::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: 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rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:Mode:Mode:rModeuserMode::suuserMode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruserMode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-userMode:>tuserMode:f[usuuserMode:serModususerMode:eruseruserMode:Mode:ModuserMode:e:e:erususeruuserMode:suserMode:erMode:ModuseruserModeuserMode::ModuserMode:e:e:erMuserMode:odeuserMode:ususerModeuseuseruserMode:Mode:ruserMode:Mode::erMode::ModeuuseuserModeuserMode::rModuserMode:e:serMuseruserMode:Mode:ode::0]userMode:, rt->tuseuseruserMode:Mode:rususeuseruseruseuserMode:rMode:Mode:Mode:ruserususerMode:erModuserModeuserMode::e:Mode:ModuseruserMode:Mode:e:euserMode:usususerMode:erMode:erMuserMode:ode:rModususeruserModeuseruserMode:Mode::Mode:erMode:e:ModeuuseuserMode:rMode:seuserMode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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rt->q[uususerMode:erModeususeruserMode:Mode:eruseruserModeuserMode::Mode:Mode::seruserModuseruserMode:Mode:euserMode:useruserMouseuserMode:ruserMode:ModuseruserMode:Mode:e:duserMode:euserMouserMode:de::userMode:MoususeruserMode:Mode:eruseruserMode:Mode:Mode:de::Mode:iususeruseruseruserMode:Mode:Mode:Mode:eruserMoususeruserMode:Mode:erModeuuseruserMode:Mode:serususerMode:erModuserMode:e:ModeuseruseruseuseruserMode:Mode:rMode:Mode:ModuserMode:e:::de:ModuseruserModeuseruserMode:Mode::Mode:e:useuseruserModeuserMode::Mode:rMuserMuseruserMode:Mode:ode:odeuseuserMode:ruuseruseruseuserMode:ruseuseruserMode:Mode:rMode:Mode:Mode:Mode:serModeuserMode::ModuseruseruserMode:Mode:Mode:e::useuseruserMode:Mode:rMouseuserMode:ruseruserMode:Mode:MuseruserMode:Mode:ode:de:usuuseruserMode:ModuseruserMode:Mode:e:suseruserMode:ModuseruserMode:Mode:e:erModeuseruserMode:Mode:ususeruserMode:Mode:eruserMode:Mode::useruseruseruserMode:Mode:Mode:Mode:erModuserMuseruserMode:Mode:ode:e:uuseruserMode:Mode:seruseruseuseruserMode:Mode:rMode:ModeuseruseuseruserMode:Mode:rMode:Mode:::rt->q[i])useuseuseruserMode:ModeuseruserMode:Mode::rModeuserMuseruserMode:Mode:oduserMode:e::rMuseruserMode:Mode:uuseruserMode:Mode:serModuseruseruserMode:ModuseruserMode:Mode:e:Mode:e:odeuserModuseruserMode:Mode:e::/(rtuuseruserMode:ModeuserMode::seuseruserMode:Mode:ruserMuserMode:oduseruseruseruseruserMode:Mode:Mode:Mode:Mode:userMode:euseruserMode:Mode:useusuuserMode:suseruserMode:Mode:erMode:erMuseruserMode:Mode:ode:rMouserMode:de:useruserModuserMode:e:ModuserMode:e::userMode:MuseruserMode:MouseruserMode:Mode:de:userMode:ode:->tuseruseuserModeuserMode::rMode:Mode:f[useuserMode:useuseuserMode:ruserMode:ModuserMode:e:rMode:rMuserMode:ususeruserMode:Mode:eruserMode:ModeuserMode:userMode::ouseruserMode:ModeuserMode::deuserModeususeruserMode:Mode:eruserMode:Mode:::i]*rt->tuseuseruseruseruserModeuserMode::ModeuserMode::Mode:Mode:ruseruseruserMode:Mode:Mode:MuserMode:odeususerMuseruserMode:Mode:ouseruserMode:Mode:de:erMouserMode:de:useruserMode:Mode::fuserMode:uuseruserMode:ModuserModuseruseuserMode:rMode:Mode:e:e:serMouususerMode:eruserMode:ModuserMode:e:serMouuserMode:serMode:dususeruserModeuserMode::Mode:erMode:e:duseruseuserModeuserMode::rMode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:ruserMode:MuserMode:oduseruserModuserMode:e:Mode:e:userModeuseruseuseruseuserMode:rMode:ModeuserMode::rMouserMode:de:ModeuseruserMode:Mode:::useruserMode:useruserModuseruseruseruserMode:Mode:Mode:Mode:euserMode:userususerMode:erMode:Mode::ModususerMuserMode:ode:euserMode:ruseruserMode:ModuserMode:e:ModeususeruseruserModuserMode:e:Mode:Mode:- userMode:rt->q[i]userMode:ususeruserMode:Mode:erMuserMode:ode:usuuseruserMode:ModuserModeuserMode::e:serMode:erModeuseuseuserMode:ruserMode:Mode:rMuserModeuserususerMode:euserMode:rMode:Mode::ouserMode:deuseuseruseuseuseruserMode:ModuserMode:e:rMode:rMuserMode:odususerMode:eruserMode:Mode:e:Mode:rMode:::userMode:)uuseruserMode:ModeuseruserMode:Mode::suserMode:useruserMode:MouserMode:de:eruuseuserMode:rMuseuserMode:ruseruserMode:Mode:Mode:oduserMuserMode:odeuseruserMode:Mode::euserMode::seuserMode:rMuserMode:ouseruseuserMode:rMode:Mode:deuserModeususerMode:eruserMode:Mode:::Mode:userModeuserMode::/(rt->tfususeruserModeuserMode::Mode:erMuserModuseruserMode:MouserMode:duserMode:e:e:odeuserususerMode:erModuuseruserMode:Mode:seuserMode:useruuserMode:seruseruseuserMode:rModuserMode:e:Mode:Mode:Mode:userMode:rModeususeruseuserMode:rMode:Mode:erMode::useruserMode:Mode:euuuserMode:seruserMode:Mode:serModuserMode:e::Mode::[iuseruserModeuserModeuserMode:::ModeuserMode::]*rt-userMuserususerMode:erMode:Mode:odeuserModuserMode:euserMode:::>useuseruseruserMode:Mode:ModuserMode:e:rMode:tfusuuserMode:seruserModuserMode:e:Mode:euuserModeuserMouserModeuserMode::dususerMode:eruserMode:Mode:e::userMode:serModeuseruserMode:Mode::rModeuseruserMode:Mode::userMode:[i]*rt->ususeuserMode:ruserMode:Mode:erMode:useuuserMode:serususerMode:erMode:ModuserMode:e:rMuserMode:odeuserMode:usuususerMode:eruserMode:ModuserMode:e:serMode:eruseruserModuserMode:e:ModuseuserMode:rMode:e:userMode:Mode::userMode:tuuseruserMode:Mode:seuuserModeuserMode::serModeuseruserMode:ModuserModeuserMode::e::rMode:uuseuserMouseuserModeuserMode::ruserMode:Mode:de:rMouseruserususerMode:erMode:ModuserMode:e:MouserModeuserMode::de:de:seususerMuseruserMode:ModuserMode:e:Mode::,rt->ad_vouususerModuseuserMode:ruserMode:Mode:e:erMode:suserModuserMode:e:erususerMode:euseruserMode:MouserMode:de:rMode:MuserMode:odeususerModeuserMode::eruserMode:ususeruserMouserModuserMode:e:deuserModeuseruseuserMode:rModuserMode:e:Mode:::MuserMode:ode:erMode:uuserMode:serMode:ModuserMode:e::ltuseuseruserMode:Mode:ruserMode:MuseruserModeuseuserMode:rMode::Mode:odeuseuserModeuseuseuserMode:rModeuserMode::rMode::ruserModeuserMode:useruserModeuseuserMode:ruserModuserMode:e:Mode::MouseruserMode:MuserModuserMode:e:ode:deuserMode:::MuserMode:odeuserMode:uuserMode:serModuseruseuserModeuserMode::rMode:ModeuserMode::e:::ageuseruserMode:ModuserMode:euserMouserMode:de:userMode::userMode:[0]userModeuseruseruseuserMode:rMode:Mode:Mode::);
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&& (rt->ususeuserModeuserModeuserMode:::rMode:erEusuuserModeuserMode:userModeususerMode:euserMode:ruserMode:Mode:::serMuserMode:ouserMode:duserMode:e:userMode:erMouserMouserMode:de:deuserMode::xit userMode:!=uuserMode:sususeruseuserMode:rMouserMode:de:ModeuseuserMode:rMode::erModeuserModeuserMode::userMode::euseruserMode:useruseuserMode:rMode:ModeuserMode::Mode:ruseruseruserMode:Mode:MouserMode:de:MuserMode: rt-userMuserMode:oduseruseruserMode:Mode:Mode:e:userModeuseuserModeuserMode::ruserMode:MuseruserMouserMode:de:Mode:oduserMode:userMuserMode:ode:euserMode:usuuserMode:serMode:erMode:::uusususerMode:erMode:erMuserMode:ode:seruseruseuserMode:rMode:MouserMode:de:ModuserMode:e:useususerMode:erMouserMouserMode:de:de:userMode:ruuserMouserModeuserMode::de:seuserMouseruserMouserMode:deuserModeuserMode:::Mode:de:rMode:MouseuseuserModuserMode:euserMode::rMode:ruseruserMode:Mode:Mode:de:userususerMode:euserMode:ruserMode:MouserMode:de:Mode:uususerModeuseuserMode:rMode::erModeuserMode::suseruserMode:Mode:useruuseuserMode:rMode:serModuseruserMouserMode:de:ModeuserModeuserMode:::euserMode::userMode:ModuuserMode:serMode:e:eruusususerMode:erModuserMode:e:erMode:seruserMuseruseruserModeuserMode::ModuseruserMode:Mode:e:MuserMode:ode:ode:ModeususerMode:erMouserModuserMode:e:de::Mode:useuseruseususerModuserModeuserMode::euseruserMode:Mode::euuserMode:seruserMode:Mode:Mode:MuserMouserMode:de:odeuserMuserMode:ouserMode:de::userModuseuserModeuserMode::rModeuserMode::e:rt->ususerususerMode:euserMode:useruseuseuserMode:rMode:rMode:Mode:rModeuserMode:uuserMode:serModuserModeuserModuserMode:e::e::Mode:erEuuseruserMode:Mode:seuserModeuserModuserMode:e::rModuseuserMode:rMouserMode:useruserModeuserModeuserModeuserMode::::Mode:de:e:n", 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userMouserModuserMode:e:de:userMode:rt-userMode:userMouseruserModeuserMususerMode:erMode:ode::Mode:de:>tau[uuserModuseruserMode:Mode:euserMode:userModuserMode:e::uuserMode:seruserModuserMode:useuserMode:rMode:e:Mode:seuseuserMode:rMode:ruserMode:MususerMode:euserMode:rMode:ouseruserModuserModeuserMode::e:ModuserususerMode:erMode:Mode:e:deuseuserModeuserMode::rMouserMode:duserMoususerMode:euserModuserMode:e:rModeuserMode::de:euserMode::MuserMode:odeuserMode:::userMode:useruseruserModeuserMode::uuserModeuserMode::serModuserModeuserMuserMode:ode::uuserMouserMode:deuserMode::serMuserMuserMode:ode:ususerMouserMode:de:useuserMode:rMode:erMode:ode:e:ModuserMode:euserMode::userMode:MuserMode:odeuserususerMode:erMode:userModusususerMode:erMode:userMouserMode:de:erModuserModuserMode:e:e:e:ModuseuserMode:rMode:e:userMuserMode:ode::uuserMode:uuserMode:serMouserMode:de:seruseruuserMode:suserMode:userMode:euserMode:rMouseruserModeuserMode::Mode:de:uuserModuserModeuserMode::e:serMuseuserMode:rMode:oduseruserMode:MuseuserMode:rMode:userMode:ouserMode:de:e:Mode:MususerMode:erMode:userMode:odeuserMuserMode:ususerMode:erMuserMode:userMode:ode:ouuserMode:seuserMode:rMode:de:userMouserModeuserMode::de::usuuserMode:serMode:euseuuserMode:seruserMode:Mode:rModeuserMode::rususerModuserususerMode:erMode:Mode:e:eruseruserMode:Mode:MuserMode:userModeuserMouserMode:de::ouserMuserMode:ode:duserMode:e:Mode:uuserMouserMuserMode:ode:de:userMode:seruserMode:useruseuseuseruserMode:Mode:rMode:rMode:useuserMode:rModuserMode:eususerModeuserMode::erMode:userMode::MuseruserMode:ModuserMouserMode:de:e:ouserMode:de:MususerMode:erMode:userMode:ode:useuserMode:ruseruseuserMode:rModuserMode:e:Mode:MuserMode:ouserMouserModuserMode:e:de:de:uuserModuserMode:eususerMode:erMode::suserModuserMouserMouserMode:de:deuuserMode:serMode::e:useuserMode:rMuseuserMode:rModuserMode:e:ouuserMouserMode:de:serMuserMode:ode:userMode:duserMode:e:userMode:eruserMode:useuseuserMode:rMuserMode:ode:rususerMouserMode:userMode:de:erMode:ModeuuserMode:suserMode:erMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0userMode:], rt-userMouseruserMode:MuserMode:ode:deuserMuserMode:userMode:ode::userModuserMode:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserModuserMode:e:userMode:seruserMode:Mode:seuserMode:ruserMode:userMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uusususerMode:erMode:erMode:serMouserModeuserMode::uuserMode:seuserMode:rMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModususerMode:erMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:userMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seususerMode:erMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:userMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMuserMode:ode:serMode:ModeuserModeuseuserModuserMode:e:rModuserMode:e:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:ususeruserMode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruseruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:ruseruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuserMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
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0.useruseuseruseruseruserMode:ModeuserMode::Mode:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, 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rt-userMouseruserMode:MuserMode:ode:deuserMuserMode:userMode:ode::userModuserModuserMode:e:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserModuserMode:e:userMode:seruserMode:Mode:seuserMode:ruserMode:userMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uusususerMode:erMode:erMode:serMouserModeuserMode::uuserMode:seuserMode:rMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModususerMode:erMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:userMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seususerMode:erMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:userMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMuserMode:ode:serMode:ModeuserModeuseuserModuserMode:e:rModuserMode:e:userModeuserMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserModeuserMode:::de:erMode:uuserMode:seruserMode:uuserMode:serMode:MuserMode:ouserMode:de:userMode:userMode:userMode:>useuserMode:userModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:ususeruserMode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruseruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:ruseruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:Mode:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuseruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], rt-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseuseruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, 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rt-userMouseruserMode:MuserMode:ode:deuserMuserMode:userMode:ode::userModuserModuserMode:e:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserModuserMode:e:userMode:seruserMode:Mode:seuserMode:ruserMode:userMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uusususerMode:erMode:erMode:serMouserModeuserMode::uuserMode:seuserMode:rMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModususerMode:erMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:userMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seususerMode:erMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:userMode:Mode:rMode:puserMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMuserMode:ode:serMode:ModeuserModeuseuserModuserMode:e:rModuserMode:e:userModeuseuserMode:rMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserModeuserMode:::de:erMode:uuserMode:seruserMode:uuserMode:serMode:MuserMode:ouserMode:de:userMode:userMode:userMode:>useuserMode:userModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:ususeruserMode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruseruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:ruseruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euserMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuserMode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:Mode:Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserMode:ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserMode:Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, 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rt-userMouseruserMode:MuserMode:ode:deuserMuserMode:userMode:ode::userModuserModuserMode:e:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserModuserMode:e:userMode:seruserMode:Mode:seuserMode:ruserMode:userMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uusususerMode:erMode:erMode:serMouserModeuserMode::uuserMode:seuserMode:rMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModususerMode:erMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:userMode:ode:odeuserMode:userMode::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seususerMode:erMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:userMode:Mode:rMode:puuserMode:serMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMuserMode:ode:serMode:ModeuserModeuseuserModuserMode:e:rModuserMode:e:userModeuseuserMode:rMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserModeuserMode:::de:erMode:uuserMode:seruserMode:uuserMode:serMode:MuserMode:ouserMode:de:userMode:userMode:userMode:>useuserMode:userModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:ususeruserMode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruseruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:ruseruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:useuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuserMode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tf[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, 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rt-userMouseruserMode:MuserMode:ode:deuserMuserMode:userMode:ode::userModuserModuserMode:e:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserModuserMode:e:userMode:seruserMode:Mode:seuserMode:ruserMode:userMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uusususerMode:erMode:erMode:serMouserModeuserMode::uuserMode:seuserMode:rMode:de:MuuuseruserMode:Mode:serMode:serModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModususerMode:erMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:userMode:ode:odeuserMode:userMouserMode:de::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seususerMode:erMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:userMode:Mode:rMode:puuserMode:serMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMuserMode:ode:serMode:ModeuserModeuseuserModuserMode:e:rModuserMode:e:userModeuseuserMode:rMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserModeuserMode:::de:erMode:uuserMode:seruserMode:uuserMode:serMode:MuserMode:ouserMode:de:userMode:userMode:userMode:>useuserMode:userModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:ususeruserMode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruseruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserMode:ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouserMode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:Mode:Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuserMode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, 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rt-userMouseruserMode:MuserMode:ode:deuserMuserMode:userMode:ode::userModuserModuserMode:e:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserModuserMode:e:userMode:seruserMode:Mode:seuserMode:ruserMode:userMode:MouserMouserMode:de:deuseruserMode:Mode::duserMode:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uusususerMode:erMode:erMode:serMouserModeuserMode::uuserMode:seuserMode:rMode:de:MuuuseruserMode:Mode:serMode:seuserMode:rModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModususerMode:erMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:userMode:ode:odeuserMode:userMouserMode:de::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seususerMode:erMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:userMode:Mode:rMode:puuserMode:serMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMuserMode:ode:serMode:ModeuserModeuseuserModuserMode:e:rModuserMode:e:userModeuseuserMode:rMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserModeuserMode:::de:erMode:uuserMode:seruserMode:uuserMode:serMode:MuserMode:ouserMode:de:userMode:userMode:userMode:>useuserMode:userModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:ususeruserMode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:Mode:erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:Mode:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-userMode:>tuserMode:f[usuuserMode:serModususerMode:eruseruserMode:Mode:ModuserMode:e:e:erususeruuserMode:suserMode:erMode:ModuseruserModeuserMode::ModuserMode:e:e:erMuserMode:odeuserMode:ususerModeuseuseruserMode:Mode:ruserMode:Mode::erMode::ModeuuseuserModeuserMode::rModuserMode:e:serMuseruserMode:Mode:ode::0]userMode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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rt-userMouseruserMode:MuserMode:ode:deuserMuserMode:userMode:ode::userModuserModuserMode:e:e:userMode:>userModeuserModuserMode:e::uuseruserMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserModuserMode:e:userMode:seruserMode:Mode:seuserMode:ruserMode:userMode:MouserMouserMode:de:deuseruserMode:Mode::duserModuserMode:e:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uusususerMode:erMode:erMode:serMouserModeuserMode::uuserMode:seuserMode:rMode:de:MuuuseruserMode:Mode:serMode:seuserMode:rModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModususerMode:erMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:userMode:ode:odeuserMode:userMouserMode:de::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seususerMode:erMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:userMode:Mode:rMode:puuserMode:serMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMuserMode:ode:serMode:ModeuserModeuseuserModuserMode:e:rModuserMode:e:userModeuseuserMode:rMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserModeuserMode:::de:erMode:uuserMode:seruserMode:uuserMode:serMode:MuserMode:ouserMode:de:userMode:userMode:userMode:>useuserMode:userModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMode:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruserMode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:Mode:Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMode:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] 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0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-userMode:>tuserMode:f[usuuserMode:serModususerMode:eruseruserMode:Mode:ModuserMode:e:e:erususeruuserMode:suserMode:erMode:ModuseruserModeuserMode::ModuserMode:e:e:erMuserMode:odeuserMode:ususerModeuseuseruserMode:Mode:ruserMode:Mode::erMode::ModeuuseuserModeuserMode::rModuserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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rt-userMouseruserMode:MuserMode:ode:deuserMuserMode:userMode:ode::userModuserModuserMode:e:e:userMode:>userModeuserModuserMode:e::uuseruseuserMode:rMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserModuserMode:e:userMode:seruserMode:Mode:seuserMode:ruserMode:userMode:MouserMouserMode:de:deuseruserMode:Mode::duserModuserMode:e:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uusususerMode:erMode:erMode:serMouserModeuserMode::uuserMode:seuserMode:rMode:de:MuuuseruserMode:Mode:serMode:seuserMode:rModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModususerMode:erMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:userMode:ode:odeuserMode:userMouserMode:de::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seususerMode:erMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:userMode:Mode:rMode:puuserMode:serMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMuserMode:ode:serMode:ModeuserModeuseuserModuserMode:e:rModuserMode:e:userModeuseuserMode:rMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserModeuserMode:::de:erMode:uuserMode:seruserMode:uuserMode:serMode:MuserMode:ouserMode:de:userMode:userMode:userMode:>useuseruserMode:Mode:userModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuserMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::ususeruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuserMode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-userMode:>tuserMode:f[usuuserMode:serModususerMode:eruseruserMode:Mode:ModuserMode:e:e:erususeruuserMode:suserMode:erMode:ModuseruserModeuserMode::ModuserMode:e:e:erMuserMode:odeuserMode:ususerModeuseuseruserMode:Mode:ruserMode:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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rt-userMouseruserMode:MuserMode:ode:deuserMuserMode:userMode:ode::userModuserModuserMode:e:e:userMode:>userModeuserModuserMode:e::uuseruseuserMode:rMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserModuserMode:e:userMode:seruserMode:Mode:seuserMode:ruserMode:userMode:MouserMouserMode:de:deuseruserMode:Mode::duserModuserMode:e:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uusususerMode:erMode:erMode:serMouserModeuserMode::uuserMode:seuserMode:rMode:de:MuuuseruserMode:Mode:serMode:seuserMode:rModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModususerMode:erMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:userMode:ode:odeuserMode:userMouserMode:de::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seususerMode:erMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:userMode:Mode:rMode:puuserMode:serMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMuserMode:ode:serMode:ModeuserModeuseuserModuserMode:e:rModuserMode:e:userModeuseuseruserMode:Mode:rMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserModeuserMode:::de:erMode:uuserMode:seruserMode:uuserMode:serMode:MuserMode:ouserMode:de:userMode:userMode:userMode:>useuseruserMode:Mode:userModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:erModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rMode:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-userMode:>tuserMode:f[usuuserMode:serModususerMode:eruseruserMode:Mode:ModuserMode:e:e:erususeruuserMode:suserMode:erMode:ModuseruserModeuserMode::ModuserMode:e:e:erMuserMode:odeuserMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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rt-userMouseruserMode:MuserMode:ode:deuserMuserMode:userMode:ode::userModuserModuserMode:e:e:userMode:>userModeuserModuserMode:e::uuseruseuserMode:rMode:Mode:seuseruuserMode:serMode:MouserMode:duserMode:e:uuserMode:serMode:e:uuserModuserMode:e:suserMode:erMouseuserMode:rMode:deuserMuserMode:ode::useuserMode:ruserMouuserMode:serMode:de:ModeuserModeuserMouuuserModuserMode:e:userMode:seruserMode:Mode:seuserMode:ruserMode:userMode:MouserMouserMode:de:deuseruserMode:Mode::duserModuserMode:e:e::userMode:ususerMode:userMode:erMode::userMouuserMode:seuseuserMode:rMuserMode:ode:rModuuserModeuseruserMode:Mode::serModeuserMouserMode:deuserMode:userMode:::e:de:useuserMode:rMode:useruseruserMode:userModuserMode:e:uusususerMode:erMode:erMode:serMouserModeuserMode::uuserMode:seuserMode:rMode:de:MuuuseruserMode:Mode:serMode:seuserMode:rModuserMode:e:userMode:ode:ModuserMode:e:ususerModeuserMode:userMode::erModeuseruserMuserMouserMuserMode:odususerMode:erMode:e:de:ode:MouseruserModeuserMode::userMode:ModeuserMode::de::useruuserMouserMode:de:suseruserMode:ModuserModususerMode:erMode:euserMode::e:uuserMode:serMode:euserMuserMuserMode:userMode:ode:odeuserMode:userMouserMode:de::rModeuserModususerMouserMode:de:erMuserMode:uuserMode:serMode:ode:euserMode:::userMouserMode:de:userModuserModuserMode:e:userMuserMode:ode:e:uuserMode:serMoususerMode:erMode:de:ModeuuserMode:suserModuserMode:e:erMode:uuseruserMode:Mode:seususerMode:erMode:rMouserMode:de::puseruserMode:Mode:useuseruserMode:userMode:Mode:rMode:puuseruserMode:Mode:serMode::uuserModeuserMode::serMode:		uuserMode:serMode:		userMode:ruserMode:t->tau_userMode:duserMode:euuseuserMode:rMode:suserMode:eruseuserMode:ruserMode:Mode:Mode:s[3useuserMode:userMode:rMususerMode:erMuserMouserMode:de:ode:oduserMode:e:]useruuserMuserMode:ode:serMode:ModeuserModeuseuserModuserMode:e:rModuserMode:e:userModeuseuseruserMode:Mode:rMode::::,userMode:ususerModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususerModeuserMode::erMode:rModuserMode:e:: rt-userMode:ususerMuserMode:ouserModeuserModeuserMode:::de:erMode:uuserMode:seruserMode:uuserMode:serMode:MuserMode:ouserMode:de:userMode:userMode:userMode:>useuseruserMode:Mode:userModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:rMode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: 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rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMode:MuserMode:ouseruserMode:Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseruserMode:Mode:Mode:Mode:miuseruuserMode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-userMode:>tuserMode:f[usuuserMode:serModususerMode:eruseruserMode:Mode:ModuserMode:e:e:erususeruuserMode:suserMode:erMode:ModuseruserModeuserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouseruseruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deuserMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: 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0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-userMode:>tuserMode:f[usuuserMode:serModususerMode:eruseruserMode:Mode:ModuserMode:e:e:erususeruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:userModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouserususerMode:eruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruserMode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruserMode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:Mode:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-userMode:>tuserMode:f[usuuserMode:serModususerMode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:useuserMode:rModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouserususerMode:eruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:userMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruserMode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruseruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quseuseruseruseruserMode:Mode:Mode:Mode:ruserMode:MouserMode:duseruserMode:Mode:e:goauseuserMode:rMode:useuuseruserMode:ModeuserMode::seruseruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:rMouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-userMode:>tuserMode:f[usuuserMode:serModususeruserMode:Mode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:useuserMode:rModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouserususerMode:eruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserMode:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserMode:duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuserMode:ruseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: 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rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserMode:ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: 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ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserMode:ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rModuserMode:e:, rtuseruserMode:ModuserMode:e:-uuserMode:serMode:>tuserMode:f[usuuserMode:serModususeruserMode:Mode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:useuserMode:rModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouserususerMode:eruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuseruserMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserMode:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] 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rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuserMode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: 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ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserMode::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, rtuseruserMode:ModuserMode:e:-uuserMode:serMode:>tuserMode:f[usuuserMode:serModususeruserMode:Mode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:useuserMode:rModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouserususerMode:eruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:ode:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuserususerMode:erMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseususerMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deuseruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: 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rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: 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ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, rtuseruserMode:ModuserMode:e:-uuserMode:serMode:>tuserMode:f[usuuserMode:serModususeruserMode:Mode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:useuserMode:rModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rMode:erMode:userMouserMode:de:seruserMuserMode:ouserususerMode:eruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:oduserMode:e:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuserususerMode:erMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouserMode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: 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rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: 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userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuserMode::rMouserMode:de:MuserMode:ode:userMode:useuserMode:rModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rModeuserMode::erMode:userMouserMode:de:seruserMuserMode:ouserususerMode:eruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:oduserMode:e:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuserususerMode:erMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:Mode:erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: 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rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: 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ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouserMode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, rtuseruserMode:ModuserMode:e:-uuserMode:serMode:>tuserMode:f[usuuserMode:serModususeruserMode:Mode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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rt-userMode:ususerMuserMode:ouserModeuserModeuserMode:::de:erMode:uuserMode:seruserMode:uuserMode:serMode:MuserMode:ouserMode:de:userMode:useuserMode:rMode:userMode:>useuseruserMode:Mode:userModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuuserMode:serMode::rMouserMode:de:MuserMode:ode:userMode:useuserMode:rModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rModeuserMode::erMode:userMouserMode:de:seruserMuserMode:ouserususerMode:eruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:oduserMode:e:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuserususerMode:erMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuserMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMode:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruserMode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserMode:ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:eruseruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, 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rt-userMode:ususerMuserMode:ouserModeuserModeuserMode:::de:erMode:uuserMode:seruserMode:uuserMode:seuserMode:rMode:MuserMode:ouserMode:de:userMode:useuserMode:rMode:userMode:>useuseruserMode:Mode:userModuserModeususerMode:eruserMode:Mode::e:rModuseuserMode:rMode:e:userMode:useuserMouuserMode:serMuserMode:ode:ususerMode:erMuuserMode:serMode:ode:de:rMode: \n"userMode:, userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tuseruseuserModeuuserMode:serMode::rMouserMode:de:MuserMode:ode:userMode:useuserMode:rModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rMode:ModuserMode:ususeuserMode:rModeuserMode::erMode:userMouserMode:de:seruserMuserMode:ouserususerMode:eruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuseuserMode:userModeuserMouserModuserMode:e:de::rMuserMouserMode:de:ode:oduserMode:e:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeuserMode:::Mode:e:userMode:ode:>useuserMode:rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuserususerMode:erMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserMode:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:ususeruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: 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useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:ouseruseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuserMode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rModuserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, 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userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuserMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruserMode:Mode:Mode:oususerMode:eruseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuserModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserMode:e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, rtuseruserMode:ModuserMode:e:-uuserMode:serMode:>tuserMode:f[usuuserMode:serModususeruserMode:Mode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuserMode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, rtuserMuseruseruseruserMode:Mode:Mode:Mode:oususerMode:eruseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:Mode:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, rtuseruserMode:ModuserMode:e:-uuserMode:serMode:>tuserMode:f[usuuserMode:serModususeruserMode:Mode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModeuseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserMode:ModeuserMode::, ruserMode:tuserMuseruseruseruserMode:Mode:Mode:Mode:oususerMode:eruseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseruseruserMode:Mode:Mode:ModuserMode:e:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:Mode:de:userMode:userMode:userMouseruseuserMode:ruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuserMouserMode:deuseruserModeuserMode::Mode:::userMode:e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, rtuseruserMode:ModuserMode:e:-uuserMode:serMode:>tuserMode:f[usuuserMode:serModususeruserMode:Mode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userMode:seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1userMode:]useruserModeuserMode::ModeuserMode::, ruserMode:tuserMuseruseruseruserMode:Mode:Mode:Mode:oususerMode:eruseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuserMode:::Mode:euserModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:userMouseuserMode:ruseruserMode:Mode:ModuserMode:e:de:userMode:userMode:userMouseruseuserMode:ruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuserMode:e:rModeuserModuserMode:e::MouserMode:deuuserMode:serMouserMode:deuseruserModeuserMode::Mode:::userMode:e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, rtuseruserMode:ModuserMode:e:-uuserMode:serMode:>tuserMode:f[usuuserMode:serModususeruserMode:Mode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouserMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userModeuserMode::seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruserMode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:Mode:Mode:e:e:>q[1useruserMode:Mode:]useruserModeuserMode::ModeuserMode::, ruserMode:tuserMuseruseruseruserMode:Mode:Mode:Mode:oususerMode:eruseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rMode:ModeuseruserMode:ModeuseruserMode:Mode:::Mode:euserModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useruserMode:MouseuserMode:ruseruserMode:Mode:ModuserMode:e:de:userMode:userMode:userMouseruseuserMode:ruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruserMode:ModuuserMode:seruseuseruserMode:ModuseruserMode:Mode:e:rModeuserModuserMode:e::MouserMode:deuuserMode:serMouserMode:deuseruserModeuserMode::Mode:::userMode:e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, rtuseruserMode:ModuserMode:e:-uuserMode:serMode:>tuserMode:f[usuuserMode:serModususeruserMode:Mode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserMode:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userModeuserMode::seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:userMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeuserMode:ruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseruseruserMode:ModeuserMode::Mode:e:e:>q[1useruserMode:Mode:]useruserModeuserMode::ModeuserMode::, ruserMode:tuserMuseruseruseruserMode:Mode:Mode:Mode:oususerMode:eruseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserMode:Mode:ruseruseuserMode:rModuserMode:e:ModeuseruserMode:ModeuseruserMode:Mode:::Mode:euserModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::Mode:de:userModuseruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:Mode:e:useruserMode:MouseuserMode:ruseruserMode:Mode:ModuserMode:e:de:userMode:userMode:userMouseruseuserMode:ruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModeuserMode::Mode:Mode:ode:ModeuseuserMode:ruseuserMode:rMode:ModuuserMode:seruseuseruserMode:ModuseruserMode:Mode:e:rModeuserModuserMode:e::MouserMode:deuuserMode:serMouserMode:deuseruserModeuserMode::Mode:::userMode:e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, rtuseruserMode:ModuserMode:e:-uuserMode:serMode:>tuserMode:f[usuuserMode:serModususeruserMode:Mode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userModeuserMode::seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:Mode:rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:useuserMode:rMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeuserMode:ruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuserMode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::Mode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:e:e:>q[1useruserMode:Mode:]useruserModeuserMode::ModeuserMode::, ruserMode:tuserMuseruseruseruserMode:Mode:Mode:Mode:oususerMode:eruseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:ModususerMode:euseruserModeuserMode::Mode:ruseruseuserMode:rModuserMode:e:ModeuseruserMode:ModeuseruserMode:Mode:::Mode:euserModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::MouseruseruserMode:ModeuserMode::ModuserMode:e:de:userModuseruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:Mode:e:useruserMode:MouseuserMode:ruseruserMode:Mode:ModuserMode:e:de:userMode:userMode:userMouseruseuserMode:ruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserMode:userMuserMode:ode:rMususerMode:eruseruserModuserMode:euserMode::Mode:Mode:ode:ModeuseuserMode:ruseuserMode:rMode:ModuuserMode:seruseuseruserMode:ModuseruserMode:Mode:e:rModeuserModuserMode:e::MouserMode:deuuserMode:serMouserMode:deuseruserModeuserMode::Mode:::userMode:e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, rtuseruserMode:ModuserMode:e:-uuserMode:serMode:>tuserMode:f[usuuserMode:serModususeruserMode:Mode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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uuseruserModeuserMode::Mode:seuserususerMode:erModeuserMode::uuserMode:serMode:ModuserMode:e:userModeuserMode::ruserMode:MuserMode:useruserMode:useruserMode:Mode:Mode:ouserMode:duserMode:e:ruserMode:tuserMouserMuserMode:ode:de:-ususeruserMode:Mode:erModeuserMode::>userMode:uususerModeuserMode::euuuserMode:seruserMode:useuserMode:rMuserMode:ode:MuserMode:ode:serModususeruserModeuserMode::Mode:erMode:useruseuserMode:rMode:Mode:e:MuserMode:uuserMode:suseuserMode:ususerMode:erMode:rModuseruserModeuserModeususerMode:erModeuserMode::::MouseuserMode:rMode:deuserMouserMode:de::e:erMode:ode::ususerMode:erModeuserMode::Mode)userMode:userMode:anuserMouserMode:deuseruserModeuserMode::Mode::duserMuseruseruserMuserMode:ode:Mode:ModuserMode:e:ouserMode:deuserususerMode:erMode:Mode:ususerMode:euserMode:rModeususerMode:erMode:::(userMode:rt->uuserModususerMode:erModeususerMode:erMode::euseruuserMode:serMode:userMode:MouserMode:de::uuserMode:userMode:suserModuserMode:e:erModuuserModeuserMode::serModuserModeuserModeuserMode:::euserMode::userModuserMode:e:e:.cpp:	ususeruserMouserMode:duserMouserMode:duserMode:e:e:Mode:eruuuserMode:suserMode:erMode:serMode:Mode:userModeuserMode::		userMuseususerModuserMode:e:erMode:ruserMode:ModeuserMode::ouserMuseuserMode:rMode:ode:deuuseruserModeuserMode::MouserMode:duuserMode:seuserMode:rMode:e:useruserMode:Mode:suserMode:erMouserMode:de:userMode::		userMode:iuserMode:f(useuserMode:ruseuseuseruserMode:ModuserMode:e:rususerMode:useuseruserModuserMode:e:Mode:ruserMode:Mode:erMode:MuserMode:useuserMode:rMode:oduseuserMode:rMode:e:rMouseuserMode:rMode:de:MuseruserMode:MuserModeususerMode:euserMode:rModuserMode:e::ode:odeuserMode:userMouserMode:duserModuserMode:e:e:ususerModeuserMode::eruserMode:userMode:MuserMode:ouserMouserMouserMode:de:de:de::rt->muserMode:uuuserMouserMode:de:serMode:useuserMode:rususerMode:erMode:Mode:e:ModeuserMuserMode:useruserMode:Mode:odeuseuserMode:rMode:::userMode:rMode:ePauserMuseuserMode:rMode:ode:ramuseuserModuserMode:e:rModeuserMode::eters(rt->a0useruserMode:MoususeuuserMode:serModeuuserMode:serModuserMode:e::rModeuserMode:userMode::euserMode:rMode:deuserMuuserModeuserMode::suserMouserModeuserMode::de:erModeuserMuserModeuserMode::ode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserModuserMode:euserMode::duserMode:e:userMode:euserMode:::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:userMode:euserMode:uuseuserMode:rMode:serMuserMode:ode::MuserMode:ouseruserususerModeuserMode::euususerMode:erMode:suserMode:eruseruserMode:Mode:Mode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:serModuserMode:e:e:de:t->userMouserModuserMode:e:de:userMode:useuseruserModuserMode:e:ModuserMode:e:ruserMode:ModeuserMode::auuserMouseuserMode:rMuserMode:ode:userMode:duserMode:e:serMuserModeuserMode::oduseruseuuseuserModuserMode:e:rMode:serMouserMode:duserMode:e:rMouseruserModuserModuserMode:e:e:ModeuserMouserMode:de::de:MuuususerMode:erMode:serMuserMode:ode:seuserMouserMode:de:rMode:ode:e:ususerMouserMode:de:erMode:3useuserMode:rMouseruserMode:Mode:de:,rtuseruseruseruserModuseruserMode:ModuserMode:e:e:Mode:ModuserMode:e:userMode:userMode:Mode:useuseruserMode:Mode:rMode:-userMouserModeuserMode::de:>tf, 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userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userModeuserMode::seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuserModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:ModeuserMode::rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:useuserMode:rMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeuserMode:ruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:ModeuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuseruserMode:Mode:::Mode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:e:e:>q[1useruserMode:Mode:]useruserModeuserMode::ModeuserMode::, ruserMode:tuserMuseruseruseruserMode:Mode:Mode:Mode:oususerMode:eruseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruserMode:Mode:Mode:Mode:erMode:userMode:ModususerMode:euseruserModeuserMode::Mode:ruseruseuserMode:rModuserMode:e:ModeuseruserMode:ModeuseruserMode:Mode:::Mode:euserModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserMode:Mode:Mode:e:MuserMode:odeuserMode::userMode:MouseruseruserMode:ModeuserMode::ModuserMode:e:de:userModuseruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:Mode:e:useruserMode:MouseuserMode:ruseruserMode:Mode:ModuserMode:e:de:userMode:userMode:userMouseruseuserMode:ruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruseruseruserMode:ModuserMode:e:Mode:Mode:seuserModeuserMode::userMuserMode:ode:rMususerMode:eruseruserModuserMode:euserMode::Mode:Mode:ode:ModeuseuserMode:ruseuserMode:rMode:ModuuserMode:seruseuseruserMode:ModuseruserMode:Mode:e:rModeuserModuserMode:e::MouserMode:deuuserMode:serMouserMode:deuseruserModeuserMode::Mode:::userMode:e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, rtuseruserMode:ModuserMode:e:-uuserMode:serMode:>tuserMode:f[usuuserMode:serModususeruserMode:Mode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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uuseruserModeuserMode::Mode:seuserususerMode:erModeuserMode::uuserMode:serMode:ModuserMode:e:userModeuserMode::ruserMode:MuserMode:useruserMode:useruserMode:Mode:Mode:ouserMode:duserMode:e:ruserMode:tuserMouserMuserMode:ode:de:-ususeruserMode:Mode:erModeuserMode::>userMode:uususerModeuserMode::euuuserMode:seruserMode:useuserMode:rMuserMode:ode:MuserMode:ode:serModususeruserModeuserMode::Mode:erMode:useruseuserMode:rMode:Mode:e:MuserMode:uuserMode:suseuserMode:ususerMode:erMode:rModuseruserModeuserModeususerMode:erModeuserMode::::MouseuserMode:rMode:deuserMouserMode:de::e:erMode:ode::ususerMode:erModeuserMode::Mode)userMode:userMode:anuserMouserMode:deuseruserModeuserMode::Mode::duserMuseruseruserMuserMode:ode:Mode:ModuserMode:e:ouserMode:deuserususerMode:erMode:Mode:ususerMode:euserMode:rModeususerMode:erMode:::(userMode:rt->uuserModususerMode:erModeususerMode:erMode::userMode:euseruuserMode:serMode:userMode:MouserMode:de::uuserMode:userMode:suserModuserMode:e:erModuuserModeuserMode::serModuserModeuserModeuserMode:::euserMode::userModuserMode:e:e:.cpp:	ususeruserMouserMode:duserMouserMode:duserMode:e:e:Mode:eruuuserMode:suserMode:erMode:serMode:Mode:userModeuserMode::		userMuseususerModuserMode:e:erMode:ruserMode:ModeuserMode::ouserMuseuserMode:rMode:ode:deuuseruserModeuserMode::MouserMode:duuserMode:seuserMode:rMode:e:useruserMode:Mode:suserMode:erMouserMode:de:userMode::		userMode:iuserMode:f(useuserMode:ruseuseuseruserMode:ModuserMode:e:rususerMode:useuseruserModuserMode:e:Mode:ruserMode:Mode:erMode:MuserMode:useuserMode:rMode:oduseuserMode:rMode:e:rMouseuserMode:rMode:de:MuseruserMode:MuserModeususerMode:euserMode:rModuserMode:e::ode:odeuserMode:userMouserMode:duserModuserMode:e:e:ususerModeuserMode::eruserMode:userMode:MuserMode:ouserMouserMouserMode:de:de:de::rt->muserMode:uuuserMouserMode:de:serMode:useuserMode:rususerMode:erMode:Mode:e:ModeuserMuserMode:useruserMode:Mode:odeuseuserMode:rMode:::userMode:rMode:ePauserMuseuserMode:rMode:ode:ramuseuserModuserMode:e:rModeuserMode::eters(rt->a0useruserMode:MoususeuuserMode:serModeuuserMode:serModuserMode:e::rModeuserMode:userMode::euserMode:rMode:deuserMuuserModeuserMode::suserMouserModeuserMode::de:erModeuserMuserModeuserMode::ode::ode::,userMode:uuserModuserMode:e:serModeuserModuserMouserModuserMode:euserMode::duserMode:e:userMode:euserMode:::rt->auserMode:2userMode:,ruuserModeuserMode::seruserModuserMode:userMode:euserMode:uuseuserMode:rMode:serMuserMode:ode::MuserMode:ouseruserususerModeuserMode::euususerMode:erMode:suserMode:eruseruserMode:Mode:Mode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:serModuserMode:e:e:de:t->userMouserModuserMode:e:de:userMode:useuseruserModuserMode:e:ModuserMode:e:ruserMode:ModeuserMode::auuserMouseuserMode:rMuserMode:ode:userMode:duserMode:e:serMuserModeuserMode::oduseruseuuseuserModuserMode:e:rMode:serMouserMode:duserMode:e:rMouseruserModuserModuserMode:e:e:ModeuserMouserMode:de::de:MuuususeruserMode:Mode:erMode:serMuserMode:ode:seuserMouserMode:de:rMode:ode:e:ususerMouserMode:de:erMode:3useuserMode:rMouseruserMode:Mode:de:,rtuseruseruseruserModuseruserMode:ModuserMode:e:e:Mode:ModuserMode:e:userMode:userMode:Mode:useuseruserMode:Mode:rMode:-userMouserModeuserMode::de:>tf, 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tususerMode:eruseuserModeuuserMode:serMode::rMouserMode:de:MuserMode:ode:userMode:useuserMode:rModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:rModeuserMode::ModuserMode:ususeuserMode:rModeuserMode::erMode:userMouserMode:de:seruserMuserMode:ouserususerMode:eruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuuserMode:seuserMode:userModeuseruserMode:MouserModuserMode:e:de::rMuserMouserMode:de:ode:oduserMode:e:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeususerMode:erMode:::Mode:e:userMode:ode:>useuserModeuserMode::rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuserususerMode:erMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userModeuserMode::seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userMode:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuseruserMode:ModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:ModeuserMode::rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:useuserMode:rMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeuserMode:ruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuserMode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseuserMode:ruserMode:ModeuseruserMode:Mode:::Mode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:e:e:>q[1useruserMode:Mode:]useruserModeuserMode::ModeuserMode::, ruserMode:tuserMuseruseruseruserMode:Mode:Mode:Mode:oususerMode:eruseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuserMode:rususeruseruseruseruserMode:Mode:Mode:Mode:Mode:erMode:userMode:ModususerMode:euseruserModeuserMode::Mode:ruseruseuserMode:rModuserMode:e:ModeuseruserMode:ModeuseruserMode:Mode:::Mode:euserModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruseruuserMode:serModuseruseruserModeuserMode::Mode:Mode:e:MuserMode:odeuserMode::userMode:MouseruseruserMode:ModeuserMode::ModuserMode:e:de:userModuseruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:Mode:e:useruserMode:MouseuserMode:ruseruserMode:Mode:ModuserMode:e:de:userMode:userMode:userMouseruseuserMode:ruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMode:ususerMode:euserMode:ruususerMode:eruserususerMode:eruserMode:ModuserMode:e:Mode:Mode:seuserModeuserMode::userMuserMode:ode:rMususerMode:eruseruserModuserMode:euserMode::Mode:Mode:ode:ModeuseuserMode:ruseuserMode:rMode:ModuuserMode:seruseuseruserMode:ModuseruserMode:Mode:e:rModeuserModuserMode:e::MouserMode:deuuserMode:serMouserMode:deuseruserModeuserMode::Mode:::userMode:e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tususerMode:eruseuserModeuuserMode:serMode::rMouserMode:de:MuserMode:ode:userMode:useuserMode:rModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:userMode:rModeuserMode::ModuserMode:ususeuserMode:rModeuserMode::erMode:userMouserMode:de:seruserMuserMode:ouserususerMode:eruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuuserMode:seuserMode:userModeuseruserMode:MouserModuserMode:e:de::rMuserMouserMode:de:ode:oduserMode:e:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeususerMode:erMode:::Mode:e:userMode:ode:>useuserModeuserMode::rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuserususerMode:erMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseuserMode:rMode::userMode:uuserMode:userModeuserMode::seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userModuserMode:e:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuseruserMode:ModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:ModeuserMode::rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:useuserMode:rMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeuserMode:ruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erMode:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:Mode:rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruserMode:Mode:Mode:ModuserMode:e:ModuserMode:euseuserMode:ruserMode:ModeuseruserMode:Mode:::Mode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:e:e:>q[1useruserMode:Mode:]useruserModeuserMode::ModeuserMode::, ruserMode:tuserMuseruseruseruserMode:Mode:Mode:Mode:oususerMode:eruseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseruserMode:ModeuserMode::seuuserMode:serMode:rususeruseruseruseruserMode:Mode:Mode:Mode:Mode:erMode:userMode:ModususerMode:euseruserModeuserMode::Mode:ruseruseuserMode:rModuserMode:e:ModeuseruserMode:ModeuseruserMode:Mode:::Mode:euserModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuserMode:ruseruserMode:Mode:Mode:Mode:eruserMode:useruuserMode:serModuseruseruserModeuserMode::Mode:Mode:e:MuserMode:odeuserMode::userMode:MouseruseruserMode:ModeuserMode::ModuserMode:e:de:userModuseruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:Mode:e:useruserMode:MouseuserMode:ruseruserMode:Mode:ModuserMode:e:de:userMode:userMode:userMouseruseuserMode:ruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususerMode:eruseruserModeuserMode::Mode:Mode:userMouserMode:de:ususerMode:euserMode:ruususerMode:eruserususerMode:eruserMode:ModuserMode:e:Mode:Mode:seuserModeuserMode::userMuserMode:ode:rMususerMode:eruseruserModuserMode:euserMode::Mode:Mode:ode:ModeuseuserMode:ruseuserMode:rMode:ModuuserMode:seruseuseruserMode:ModuseruserMode:Mode:e:rModeuserModuserMode:e::MouserMode:deuuserMode:serMouserMode:deuseruserModeuserMode::Mode:::userMode:e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tususerMode:erususerMode:euserModeuuserMode:serMode::rMouserMode:de:MuserMode:ode:userMode:useuserMode:rModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:userMode:rModeuserMode::ModuserMode:ususeuserMode:rModeuserMode::erMode:userMouserMode:de:seruserMuserMode:ouserususerMode:eruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuuserMode:seuserMode:userModeuseruserMode:MouserModuserMode:e:de::rMuserMouserMode:de:ode:oduserMode:e:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeususerMode:erMode:::Mode:e:userMode:ode:>useuserModeuserMode::rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuserususerMode:erMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMode:Mode:seuserMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseususerMode:erMode:rMode::userMode:uuserMode:userModeuserMode::seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userModuserMode:e:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuseruserMode:ModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:ModeuserMode::rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:useuserMode:rMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeuserMode:ruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erModuserMode:e:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruserMode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::ruseruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:ModuserMode:euseuserMode:ruserMode:ModeuseruserMode:Mode:::Mode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:e:e:>q[1useruserMode:Mode:]useruserModeuserMode::ModeuserMode::, ruserMode:tuserMuseruseruseruserMode:Mode:Mode:Mode:oususerMode:eruseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::odeuuseuserMode:rMode:seruuseuserMode:ruserMode:ModeuserMode::seuuserMode:serMode:rususeruseruseruseruserMode:Mode:Mode:Mode:Mode:erMode:userMode:ModususerMode:euseruserModeuserMode::Mode:ruseruseuserMode:rModuserMode:e:ModeuseruserMode:ModeuseruserMode:Mode:::Mode:euserModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:Mode:Mode:Mode:duserMode:e:ususeruseuseruserMode:Mode:ruseruserMode:Mode:Mode:Mode:eruserMode:useruuserMode:serModuseruseruserModeuserMode::Mode:Mode:e:MuserMode:odeuserMode::userMode:MouseruseruserMode:ModeuserMode::ModuserMode:e:de:userModuseruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:Mode:e:useruserMode:MouseuserMode:ruseruserMode:Mode:ModuserMode:e:de:userMode:userMode:userMouseruseuserMode:ruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:Mode:ruserMouserMode:de:MouserMode:de:e:=ususeruserMode:Mode:eruseruserModeuserMode::Mode:Mode:userMouserMode:de:ususerMode:euserMode:ruususerMode:eruserususerMode:eruserMode:ModuserMode:e:Mode:Mode:seuserModeuserMode::userMuserMode:ode:rMususerMode:eruseruserModuserMode:euserMode::Mode:Mode:ode:ModeuseuserMode:ruseuserMode:rMode:ModuuserMode:seruseuseruserMode:ModuseruserMode:Mode:e:rModeuserModuserMode:e::MouserMode:deuuserMode:serMouserMode:deuseruserModeuserMode::Mode:::userMode:e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, rtuseruserMode:ModuserMode:e:-uuserMode:serMode:>tuserMode:f[usuuserMode:serModususeruserMode:Mode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuserMode:e:Mode:, 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tususerMode:erususerMode:euserModeuuserMode:serMode::rMouserMode:de:MuserMode:ode:userMode:useuserMode:rModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:userMode:rModeuserMode::ModuserMode:ususeuserMode:rModeuserMode::erMode:userMouserMode:de:seruserMuserMode:ouserususerMode:eruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuuserMode:seuserMode:userModeuseruserMode:MouserModuserMode:e:de::rMuserMouserMode:de:ode:oduserMode:e:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeususerMode:erMode:::Mode:e:userMode:ode:>useuserModeuserMode::rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuserususerMode:erMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:useruserModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMouserMode:de:Mode:seuserMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseususerMode:erMode:rMode::userMode:uuserMode:userModeuserMode::seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userModuserMode:e:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuseruserMode:ModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:ModeuserMode::rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruserMode:ModuseruserMode:userMode:Mode:userModuserMode:e:useuserMode:rMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserMode:userModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeuserMode:ruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erModuserMode:e:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:eruseuseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserMode:ModeuserMode::rususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:ModuserMode:euseuserMode:ruserMode:ModeuseruserMode:Mode:::Mode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:e:e:>q[1useruserMode:Mode:]useruserModeuserMode::ModeuserMode::, ruserMode:tuserMuseruseruseruserMode:Mode:Mode:Mode:oususerMode:eruseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuserMode:euseruserMode:Mode::oduserMode:euuseuserMode:rMode:seruuseuserMode:ruserMode:ModeuserMode::seuuserMode:serMode:rususeruseruseruseruserMode:Mode:Mode:Mode:Mode:erMode:userMode:ModususerMode:euseruserModeuserMode::Mode:ruseruseuserMode:rModuserMode:e:ModeuseruserMode:ModeuseruserMode:Mode:::Mode:euserModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:userMode:userMouseruseruseruserMode:ModeuserMode::Mode:Mode:duserMode:e:ususeruseuseruserMode:Mode:ruseruserMode:Mode:Mode:Mode:eruserMode:useruuserMode:serModuseruseruserModeuserMode::Mode:Mode:e:MuserMode:odeuserMode::userMode:MouseruseruserMode:ModeuserMode::ModuserMode:e:de:userModuseruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:Mode:e:useruserMode:MouseuserMode:ruseruserMode:Mode:ModuserMode:e:de:userMode:userMode:userMouseruseuserMode:ruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuuserMode:seuseruseruserMode:ModuserMode:e:MouserMode:de:ruserMouserMode:de:MouserMode:de:e:=ususeruserMode:Mode:eruseruserModeuserMode::Mode:Mode:userMouserMode:de:ususerMode:euserMode:ruususerMode:eruserususerMode:eruserMode:ModuserMode:e:Mode:Mode:seuserModeuserMode::userMuserMode:ode:rMususerMode:eruseruserModuserMode:euserMode::Mode:Mode:ode:ModeuseuserMode:ruseuserMode:rMode:ModuuserMode:seruseuseruserMode:ModuseruserMode:Mode:e:rModeuserModuserMode:e::MouserMode:deuuserMode:serMouserMode:deuseruserModeuserMode::Mode:::userMode:e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tususerMode:erususerMode:euserModeuuserMode:serMode::rMouserMode:de:MuserMode:ode:userMode:useuserMode:rModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:userMode:rModeuserMode::ModuserMode:ususeuserMode:rModeuserMode::erMode:userMouserMode:de:seruserMuserMode:ouserususerMode:eruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuuserMode:seuserMode:userModeuseruserMode:MouserModuserMode:e:de::rMuserMouserMode:de:ode:oduserMode:e:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeususerMode:erMode:::Mode:e:userMode:ode:>useuserModeuserMode::rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuserususerMode:erMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:userususerMode:erModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMouserMode:de:Mode:seuserMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseususerMode:erMode:rMode::userMode:uuserMode:userModeuserMode::seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userModuserMode:e:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuseruserMode:ModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserMode:useruserMuserMode:ouseuseruseruserMode:Mode:ModeuserMode::rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruuserMode:serMode:ModuseruserMode:userMode:Mode:userModuserMode:e:useuserMode:rMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserMode:userModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeuserMode:ruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erModuserMode:e:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususerMode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususerMode:euseruserModeuserMode::ModeuserMode::rususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:ModuserMode:euseuserMode:ruserMode:ModeuseruserMode:Mode:::Mode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:e:e:>q[1useruserMode:Mode:]useruserModeuserMode::ModeuserMode::, ruserMode:tuserMuseruseruseruserMode:Mode:Mode:Mode:oususerMode:eruseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:Mode:Mode:Mode::de:MuserModuseruserMode:Mode:euseruserMode:Mode::oduserMode:euuseuserMode:rMode:seruuseuserMode:ruserMode:ModeuserMode::seuuserMode:serMode:rususeruseruseruseruserMode:Mode:Mode:Mode:Mode:erMode:userMode:ModususerMode:euseruserModeuserMode::Mode:ruseruseuserMode:rModuserMode:e:ModeuseruserMode:ModeuseruserMode:Mode:::Mode:euserModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseruserMode:ModeuserMode::Mode:de:useruserMode:Mode:userMouseruseruseruserMode:ModeuserMode::Mode:Mode:duserMode:e:ususeruseuseruserMode:Mode:ruseruserMode:Mode:Mode:Mode:eruserMode:useruuserMode:serModuseruseruserModeuserMode::Mode:Mode:e:MuserMode:odeuserMode::userMode:MouseruseruserMode:ModeuserMode::ModuserMode:e:de:userModuseruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:Mode:e:useruserMode:MouseuserMode:ruseruserMode:Mode:ModuserMode:e:de:userMode:userMode:userMouseruseuserMode:ruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserMode::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuserMode:uuserMode:seuseruseruserMode:ModuserMode:e:MouserMode:de:ruserMouserMode:de:MouserMode:de:e:=ususeruserMode:Mode:eruseruserModeuserMode::Mode:Mode:userMouserMode:de:ususerMode:euserMode:ruususerMode:eruserususerMode:eruserMode:ModuserMode:e:Mode:Mode:seuserModeuserMode::userMuserMode:ode:rMususerMode:eruseruserModuserMode:euserMode::Mode:Mode:ode:ModeuseuserMode:ruseuserMode:rMode:ModuuserMode:seruseuseruserMode:ModuseruserMode:Mode:e:rModeuserModuserMode:e::MouserMode:deuuserMode:serMouserMode:deuseruserModeuserMode::Mode:::userMode:e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tususerMode:erususerMode:euserModeuuserMode:serMode::rMouserMode:de:MuserMode:ode:userMode:useuserMode:rModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:userMode:rModeuserMode::ModuserMode:ususeuserMode:rModeuserMode::erMode:userMouserMode:de:seruserMuserMode:ouserususerMode:eruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuuserMode:seuserMode:userModeuseruserMode:MouserModuserMode:e:de::rMuserMouserMode:de:ode:oduserMode:e:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeususeruserMode:Mode:erMode:::Mode:e:userMode:ode:>useuserModeuserMode::rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuserususerMode:erMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:userususerMode:erModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMouserMode:de:Mode:seuserMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseususerMode:erMode:rMode::userMode:uuserMode:userModeuserMode::seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userModuserMode:e:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:euserMuserMode:ode::dususeruserModeuserMode::ModeuseruserMode:ModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserModuserMode:e:useruserMuserMode:ouseuseruseruserMode:Mode:ModeuserMode::rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruuserMode:serMode:ModuseruserMode:userMode:Mode:userModuserMode:e:useuserMode:rMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserMode:userModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeuserMode:ruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erModuserMode:e:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:Mode:Mode:oduserususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:ModuserMode:euseuserMode:ruserMode:ModeuseruserMode:Mode:::Mode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:e:e:>q[1useruserMode:Mode:]useruserModeuserMode::ModeuserMode::, ruserMode:tuserMuseruseruseruserMode:Mode:Mode:Mode:oususerMode:eruseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserModeuseruseruseruserMode:ModeuserMode::Mode:Mode::de:MuserModuseruserMode:Mode:euseruserMode:Mode::oduserMode:euuseuserMode:rMode:seruuseuserMode:ruserMode:ModeuserMode::seuuserMode:serMode:rususeruseruseruseruserMode:Mode:Mode:Mode:Mode:erMode:userMode:ModususerMode:euseruserModeuserMode::Mode:ruseruseuserMode:rModuserMode:e:ModeuseruserMode:ModeuseruserMode:Mode:::Mode:euserModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:Mode:ModuserMode:e:euserMode:rMouseruseuserMode:ruserMode:ModeuserMode::Mode:de:useruserMode:Mode:userMouseruseruseruserMode:ModeuserMode::Mode:Mode:duserMode:e:ususeruseuseruserMode:Mode:ruseruserMode:Mode:Mode:Mode:eruserMode:useruuserMode:serModuseruseruserModeuserMode::Mode:Mode:e:MuserMode:odeuserMode::userMode:MouseruseruserMode:ModeuserMode::ModuserMode:e:de:userModuseruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:Mode:e:useruserMode:MouseuserMode:ruseruserMode:Mode:ModuserMode:e:de:userMode:userMode:userMouseruseuserMode:ruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] 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0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::userMode:tfuserususerMode:eruseruserModeuserModeuserMode:::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuserMode:uuserMode:seuseruseruserMode:ModuserMode:e:MouserMode:de:ruserMouserMode:de:MouserMode:de:e:=ususeruserMode:Mode:eruseruserModeuserMode::Mode:Mode:userMouserMode:de:ususerMode:euserMode:ruususerMode:eruserususerMode:eruserMode:ModuserMode:e:Mode:Mode:seuserModeuserMode::userMuserMode:ode:rMususerMode:eruseruserModuserMode:euserMode::Mode:Mode:ode:ModeuseuserMode:ruseuserMode:rMode:ModuuserMode:seruseuseruserMode:ModuseruserMode:Mode:e:rModeuserModuserMode:e::MouserMode:deuuserMode:serMouserMode:deuseruserModeuserMode::Mode:::userMode:e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tususerMode:erususerMode:euserModeuuserMode:serMode::rMouserMode:de:MuserMode:ode:userMode:useuserMode:rModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:userMode:rModeuserMode::ModuserMode:ususeuserMode:rModeuserMode::erMode:userMouserMode:de:seruserMuserMode:ouserususerMode:eruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuuseruserMode:Mode:seuserMode:userModeuseruserMode:MouserModuserMode:e:de::rMuserMouserMode:de:ode:oduserMode:e:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeususeruserMode:Mode:erMode:::Mode:e:userMode:ode:>useuserModeuserMode::rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuserususerMode:erMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:userususerMode:erModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMouserMode:de:Mode:seuserMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseususerMode:erMode:rMode::userMode:uuserMode:userModeuserMode::seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruserMode:Mode:suseuserMode:userMode:ruserMode:userModuserMode:e:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:eususerMode:erMuserMode:ode::dususeruserModeuserMode::ModeuseruserMode:ModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserModuserMode:e:useruserMuserMode:ouseuseruseruserMode:Mode:ModeuserMode::rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruuserMode:serMode:ModuseruserMode:userMode:Mode:userModuserMode:e:useuserMode:rMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserMode:userModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeuserMode:ruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erModuserMode:e:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseruseruserMode:ModeuserMode::Mode:oduserususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:ModuserMode:euseuserMode:ruserMode:ModeuseruserMode:Mode:::Mode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:e:e:>q[1useruserMode:Mode:]useruserModeuserMode::ModeuserMode::, ruserMode:tuserMuseruseruseruserMode:Mode:Mode:Mode:oususerMode:eruseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserMode:ModeuserMode::userMouserMouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::de:MuserModuseruserMode:Mode:euseruserMode:Mode::oduserMode:euuseuserMode:rMode:seruuseuserMode:ruserMode:ModeuserMode::seuuserMode:serMode:rususeruseruseruseruserMode:Mode:Mode:Mode:Mode:erMode:userMode:ModususerMode:euseruserModeuserMode::Mode:ruseruseuserMode:rModuserMode:e:ModeuseruserMode:ModeuseruserMode:Mode:::Mode:euserModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:userMode:ususeruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e:euserMode:rMouseruseuserMode:ruserMode:ModeuserMode::Mode:de:useruserMode:Mode:userMouseruseruseruserMode:ModeuserMode::Mode:Mode:duserMode:e:ususeruseuseruserMode:Mode:ruseruserMode:Mode:Mode:Mode:eruserMode:useruuserMode:serModuseruseruserModeuserMode::Mode:Mode:e:MuserMode:odeuserMode::userMode:MouseruseruserMode:ModeuserMode::ModuserMode:e:de:userModuseruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:Mode:e:useruserMode:MouseuserMode:ruseruserMode:Mode:ModuserMode:e:de:userMode:userMode:userMouseruseuserMode:ruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserMode:Mode:Mode:deuserMode:userMuserMode:ode::useuserMode:rMode:tfuserususerMode:eruseruserModeuserModeuserMode:::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuserMode:uuserMode:seuseruseruserMode:ModuserMode:e:MouserMode:de:ruserMouserMode:de:MouserMode:de:e:=ususeruserMode:Mode:eruseruserModeuserMode::Mode:Mode:userMouserMode:de:ususerMode:euserMode:ruususerMode:eruserususerMode:eruserMode:ModuserMode:e:Mode:Mode:seuserModeuserMode::userMuserMode:ode:rMususerMode:eruseruserModuserMode:euserMode::Mode:Mode:ode:ModeuseuserMode:ruseuserMode:rMode:ModuuserMode:seruseuseruserMode:ModuseruserMode:Mode:e:rModeuserModuserMode:e::MouserMode:deuuserMode:serMouserMode:deuseruserModeuserMode::Mode:::userMode:e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, rtuseruserMode:ModuserMode:e:-uuserMode:serMode:>tuserMode:f[usuuserMode:serModususeruserMode:Mode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruserMode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duserMode:e::f[userMode:1userMode:useuuserMode:seuserususerMode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuserMode:ruserMode:Mode:de:rModeuserMode::]useruserModuseruserMode:Mode:e:Mode:, 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tususerMode:erususerMode:euserModeuuserMode:serMode::rMouserMode:de:MuserMode:ode:userMode:useuserMode:rModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:useruserMode:Mode:rModeuserMode::ModuserMode:ususeuserMode:rModeuserMode::erMode:userMouserMode:de:seruserMuserMode:ouserususerMode:eruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuuseruserMode:Mode:seuserMode:userModeuseruserMode:MouserModuserMode:e:de::rMuserMouserMode:de:ode:oduserMode:e:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeususeruserMode:Mode:erMode:::Mode:e:userMode:ode:>useuserModeuserMode::rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuserususerMode:erMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:userususerMode:erModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMouserMode:de:Mode:seuserMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:de:userMouserMode:deuserModeuserMode:::userModeuseususerMode:erMode:rMode::userMode:uuserMode:userModeuserMode::seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruseuserMode:rMode:Mode:suseuserMode:userMode:ruserMode:userModuserMode:e:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:eususerMode:erMuserMode:ode::dususeruserModeuserMode::ModeuseruserMode:ModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserModuserMode:e:useruserMuserMode:ouseuseruseruserMode:Mode:ModeuserMode::rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruuserMode:serMode:ModuseruserMode:userMode:Mode:userModuserMode:e:useuserMode:rMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserMode:userModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeuserMode:ruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruserMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erModuserMode:e:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:Mode:ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseruserMode:ModeuserMode::erMode:rMuseuserMode:ruseruserMode:ModeuserMode::Mode:oduserususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:ModuserMode:euseuserMode:ruserMode:ModeuseruserMode:Mode:::Mode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:e:e:>q[1useruserMode:Mode:]useruserModeuserMode::ModeuserMode::, ruserMode:tuserMuseruseruseruserMode:Mode:Mode:Mode:oususerMode:eruseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuserMode:rMode:e:eruseruserModeuserMode::ModeuserMode::userMouserMouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::de:MuserModuseruserMode:Mode:euseruserMode:Mode::oduserMode:euuseuserMode:rMode:seruuseuserMode:ruserMode:ModeuserMode::seuuserMode:serMode:rususeruseruseruseruserMode:Mode:Mode:Mode:Mode:erMode:userMode:ModususerMode:euseruserModeuserMode::Mode:ruseruseuserMode:rModuserMode:e:ModeuseruserMode:ModeuseruserMode:Mode:::Mode:euserModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseruserMode:Mode:Mode::e:userMode:useruserMode:Mode:ususeruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e:euserMode:rMouseruseuserMode:ruserMode:ModeuserMode::Mode:de:useruserMode:Mode:userMouseruseruseruserMode:ModeuserMode::Mode:Mode:duserMode:e:ususeruseuseruserMode:Mode:ruseruserMode:Mode:Mode:Mode:eruserMode:useruuserMode:serModuseruseruserModeuserMode::Mode:Mode:e:MuserMode:odeuserMode::userMode:MouseruseruserMode:ModeuserMode::ModuserMode:e:de:userModuseruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:Mode:e:useruserMode:MouseuserMode:ruseruserMode:Mode:ModuserMode:e:de:userMode:userMode:userMouseruseuserMode:ruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->userMode:useruseruserMode:Mode:MouseruseruserModuserMode:e:Mode:Mode:deuserMode:userMuserMode:ode::useuserMode:rMode:tfuserususerMode:eruseruserModeuserModeuserMode:::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuserMode:uuserMode:seuseruseruserMode:ModuserMode:e:MouserMode:de:ruserMouserMode:de:MouserMode:de:e:=ususeruserMode:Mode:eruseruserModeuserMode::Mode:Mode:userMouserMode:de:ususerMode:euserMode:ruususerMode:eruserususerMode:eruserMode:ModuserMode:e:Mode:Mode:seuserModeuserMode::userMuserMode:ode:rMususerMode:eruseruserModuserMode:euserMode::Mode:Mode:ode:ModeuseuserMode:ruseuserMode:rMode:ModuuserMode:seruseuseruserMode:ModuseruserMode:Mode:e:rModeuserModuserMode:e::MouserMode:deuuserMode:serMouserMode:deuseruserModeuserMode::Mode:::userMode:e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tususerMode:erususeruserMode:Mode:euserModeuuserMode:serMode::rMouserMode:de:MuserMode:ode:userMode:useuserMode:rModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:useruserMode:Mode:rModeuserMode::ModuserMode:ususeuserMode:rModeuserMode::erMode:userMouserMode:de:seruserMuserMode:ouserususerMode:eruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuuseruserMode:Mode:seuserMode:userModeuseruserMode:MouserModuserMode:e:de::rMuserMouserMode:de:ode:oduserMode:e:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeususeruserMode:Mode:erMode:::Mode:e:userMode:ode:>useuserModeuserMode::rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuserususerMode:erMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:userususerMode:erModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serMode:MouserMode:de:userMode:userMode:serModuuseruserMouserMode:de:Mode:seuserMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:deuserMode::userMouserMode:deuserModeuserMode:::userModeuseususerMode:erMode:rMode::userMode:uuserMode:userModeuserMode::seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruseuserMode:rMode:Mode:suseuserMode:userMode:ruserMode:userModuserMode:e:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:eususerMode:erMuserMode:ode::dususeruserModeuserMode::ModeuseruserMode:ModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserModuserMode:e:useruserMuserMode:ouseuseruseruserMode:Mode:ModeuserMode::rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruuserMode:serMode:ModuseruserMode:userMode:Mode:userModuserMode:e:useuserMode:rMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:Mode:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserMode:userModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeuserMode:ruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruseuserMode:rMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erModuserMode:e:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruserMode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: 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ruserMode:tuserMuseruseruseruserMode:Mode:Mode:Mode:oususerMode:eruseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseruserMode:Mode:erModuseuseruserMode:Mode:rMode:e:eruseruserModeuserMode::ModeuserMode::userMouserMouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::de:MuserModuseruserMode:Mode:euseruserMode:Mode::oduserMode:euuseuserMode:rMode:seruuseuserMode:ruserMode:ModeuserMode::seuuserMode:serMode:rususeruseruseruseruserMode:Mode:Mode:Mode:Mode:erMode:userMode:ModususerMode:euseruserModeuserMode::Mode:ruseruseuserMode:rModuserMode:e:ModeuseruserMode:ModeuseruserMode:Mode:::Mode:euserModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:Mode:e:Mode:ModuserModeuseuserMode:ruseuserMode:ruserMode:Mode:Mode::e:userMode:useruserMode:Mode:ususeruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e:euserMode:rMouseruseuserMode:ruserMode:ModeuserMode::Mode:de:useruserMode:Mode:userMouseruseruseruserMode:ModeuserMode::Mode:Mode:duserMode:e:ususeruseuseruserMode:Mode:ruseruserMode:Mode:Mode:Mode:eruserMode:useruuserMode:serModuseruseruserModeuserMode::Mode:Mode:e:MuserMode:odeuserMode::userMode:MouseruseruserMode:ModeuserMode::ModuserMode:e:de:userModuseruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:Mode:e:useruserMode:MouseuserMode:ruseruserMode:Mode:ModuserMode:e:de:userMode:userMode:userMouseruseuserMode:ruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModeuserMode::ModuserMode:e:Mode:.cpp:			rt->useuserMode:rMode:useruseruserMode:Mode:MouseruseruserModuserMode:e:Mode:Mode:deuserMode:userMuserMode:ode::useuserMode:rMode:tfuserususerMode:eruseruserModeuserModeuserMode:::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuserMode:uuserMode:seuseruseruserMode:ModuserMode:e:MouserMode:de:ruserMouserMode:de:MouserMode:de:e:=ususeruserMode:Mode:eruseruserModeuserMode::Mode:Mode:userMouserMode:de:ususerMode:euserMode:ruususerMode:eruserususerMode:eruserMode:ModuserMode:e:Mode:Mode:seuserModeuserMode::userMuserMode:ode:rMususerMode:eruseruserModuserMode:euserMode::Mode:Mode:ode:ModeuseuserMode:ruseuserMode:rMode:ModuuserMode:seruseuseruserMode:ModuseruserMode:Mode:e:rModeuserModuserMode:e::MouserMode:deuuserMode:serMouserMode:deuseruserModeuserMode::Mode:::userMode:e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, 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userMode:ruserMode:useuserMode:ruserMode:MouserModeuserMode::de:tususerMode:erususeruserMode:Mode:euserModeuuserMode:serMode::rMouserMode:de:MuserMode:ode:userMode:useuserMode:rModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserMode:ouserMode:de:erMode:eruserMode:MuserMode:ouserMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:ode:useruserMode:Mode:rModeuserMode::ModuserMode:ususeuserMode:rModeuserMode::erMode:userMouserMode:de:seruserMuserMode:ouserususerMode:eruserMode:Mode:Mode:de:MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:seruserMode:org.useruserMuserMode:ode:userMuuseruserMode:Mode:seuserMode:userModeuseruserMode:MouserModuserMode:e:de::rMuserMouserMode:de:ode:oduserMode:e:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suserMode:eruserMouserMode:deuserModeususeruserMode:Mode:erMode:::Mode:e:userMode:ode:>useuserModeuserMode::rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuserususerMode:erMode:Mode:ouserMode:de:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:Mode:Mode::erMouserMuseruserMode:Mode:ode:de:userususerMode:erModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serModeuserMode::MouserMode:de:userMode:userMode:serModuuseruserMouserMode:de:Mode:seuserMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:deuserMode::userMouserMode:deuserModeuserMode:::userModeuseususerMode:erMode:rMode::userMode:uuserMode:userModeuserMode::seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruseuserMode:rMode:Mode:suseuserMode:userMode:ruserMode:userModuserMode:e:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:eususerMode:erMuserMode:ode::dususeruserModeuserMode::ModeuseruserMode:ModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserModuserMode:e:useruserMuserMode:ouseuseruseruserMode:Mode:ModeuserMode::rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModeususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruuserMode:serMode:ModuseruserMode:userMode:Mode:userModuserMode:e:useuserMode:rMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:MouserMode:de:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserMode:userModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeuserMode:ruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruseuserMode:rMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erModuserMode:e:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:-useuuserMode:suseuserMode:ruserMode:ModeuseruserMode:Mode::erMode:rMuseuserMode:ruseruserMode:ModeuserMode::Mode:oduserususeruserMode:Mode:euseruserModeuserMode::ModeuserMode::rususerMode:eruseruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:e:ModuserMode:euseuserMode:ruserMode:ModeuseruserMode:Mode:::Mode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:e:e:>q[1useruserMode:Mode:]useruserModeuserMode::ModeuserMode::, ruserMode:tuserMuseruseruseruserMode:Mode:Mode:Mode:oususerMode:eruseuserMode:ruseuserMode:ruserMode:ModeuseruserMode:Mode::Mode:ModeuseuserMode:ruseruserMode:ModeuserMode::Mode::deuseruuseruserMode:Mode:suseruserModeuserMode::ModeuserMode::eruuserMode:seruseuseruseruseruserMode:Mode:Mode:Mode:rMouserMode:de:MouserMode:duseuserMode:ruserMode:ModeuseruserMode:Mode::e:ModuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:e:MouseuserMode:ruseruserMode:ModeuserMode::Mode:duserModeuseuserMode:ruseruserMode:ModeuserMode::Mode::e::useruuseuserMode:ruseruserMode:ModeuserMode::Mode:serMode:MuseuserMode:ruseruserMode:ModeuserMode::Mode:oduseuseruseuserMode:ruseruserMode:ModeuserMode::Mode:Mode:ruseuseuserMode:ruseruserMode:ModeuserMode::Mode:rMode:ModuseuserMode:ruseruserMode:ModeuserMode::Mode:euserModeuseuserMode:ruseruserMode:ModeuserMode::Mode:::e:useususeuserMode:ruseruserMode:ModeuserMode::Mode:erModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e:rMuseruseruserMode:ModeuserMode::Mode:odeuserMouseruseruseruserMode:Mode:Mode:Mode:deuseruseuseuserMode:ruseruserMode:Mode:Mode:rususerMode:erModeuseruseruserMode:ModeuserMode::Mode::ModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::ModuseuserMode:ruseruserMode:Mode:Mode:e::userMode::userMuseruseruserMode:ModeuserMode::Mode:ode:useususeruseruseruserMode:Mode:Mode:Mode:erMode:rMuseuserMode:ruseruserMode:Mode:Mode:oususerMode:eruseruseruseruserMode:ModeuserMode::Mode:Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::duseruseuseuserMode:ruseruserMode:Mode:Mode:rMouserMode:de:ModuseruseruserMode:ModeuserMode::Mode:e:e:userMuseruseruseruserMode:Mode:Mode:Mode:Mode:rt->usuuserMode:suseuserMode:ruserMode:Mode:erModuseuseruserMode:Mode:rMode:e:eruseruserModeuserMode::ModeuserMode::userMouserMouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::de:MuserModuseruserMode:Mode:euseruserMode:Mode::oduserMode:euuseuserMode:rMode:seruuseuserMode:ruserMode:ModeuserMode::seuuserMode:serMode:rususeruseruseruseruserMode:Mode:Mode:Mode:Mode:erMode:userMode:ModususerMode:euseruserModeuserMode::Mode:ruseruseuserMode:rModuserMode:e:ModeuseruserMode:ModeuseruserMode:Mode:::Mode:euserModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rModuseruseruseruserMode:Mode:Mode:ModuserMode:e:e:Mode:ModuserModeuseuserMode:ruseuserMode:ruserMode:Mode:Mode::e:userMode:useruserMode:Mode:ususeruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e:euserMode:rMouseruseuserMode:ruserMode:ModeuserMode::Mode:de:useruserMode:Mode:userMouseruseruseruserMode:ModeuserMode::Mode:Mode:duserMode:e:ususeruseuseruserMode:Mode:ruseruserMode:Mode:Mode:Mode:eruserMode:useruuserMode:serModuseruseruserModeuserMode::Mode:Mode:e:MuserMode:odeuserMode::userMode:MouseruseruserMode:ModeuserMode::ModuserMode:e:de:userModuseruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:Mode:e:useruserMode:MouseuserMode:ruseruserMode:Mode:ModuserMode:e:de:userMode:userMode:userMouseruseuserMode:ruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserMode:ruseruserModeuserMode::de:de:useruseruserModuserMode:euserMode::ModuserMode:e:Mode:.cpp:			rt->useuserMode:rMode:useruseruserMode:Mode:MouseruseruserModuserMode:e:Mode:Mode:deuserMode:userMuserMode:ode::useuserMode:rMode:tfuserususerMode:eruseruserModeuserModeuserMode:::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuserMode:uuserMode:seuseruseruserMode:ModuserMode:e:MouserMode:de:ruserMouserMode:de:MouserMode:de:e:=ususeruserMode:Mode:eruseruserModeuserMode::Mode:Mode:userMouserMode:de:ususerMode:euserMode:ruususerMode:eruserususerMode:eruserMode:ModuserMode:e:Mode:Mode:seuserModeuserMode::userMuserMode:ode:rMususerMode:eruseruserModuserMode:euserMode::Mode:Mode:ode:ModeuseuserMode:ruseuserMode:rMode:ModuuserMode:seruseuseruserMode:ModuseruserMode:Mode:e:rModeuserModuserMode:e::MouserMode:deuuserMode:serMouserMode:deuseruserModeuserMode::Mode:::userMode:e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, rtuseruserMode:ModuserMode:e:-uuserMode:serMode:>tuserMode:f[usuuserMode:serModususeruserMode:Mode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, 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userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:MuserMode:ode:Mode::erMouserMuseruserMode:Mode:ode:de:userususerMode:erModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serModeuserMode::MouserMode:de:userMode:userMode:serModuuseruserMouserMode:de:Mode:seuserMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:deuserMode::userMouserMode:deuserModeuserMode:::userModeuseususerMode:erMode:rMode::userMode:uuserMode:userModeuserMode::seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruseuserMode:rMode:Mode:suseuserMode:userMode:ruserMode:userModuserMode:e:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:eususerMode:erMuserMode:ode::dususeruserModeuserMode::ModeuseruserMode:ModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerMode:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserModuserMode:e:useruserMuserMode:ouseuseruseruserMode:Mode:ModeuserMode::rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModuserMode:eususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruuserMode:serMode:ModuseruserMode:userMode:Mode:userModuserMode:e:useuserMode:rMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:MouserMode:de:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserMode:userModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeuserMode:ruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruseuserMode:rMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erModuserMode:e:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuserMode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::e:userMode:e:Mode:rt->usuuserMode:suseuserMode:ruserMode:Mode:erModuseuseruserMode:Mode:rMode:e:eruseruserModeuserMode::ModeuserMode::userMouserMouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::de:MuserModuseruserMode:Mode:euseruserMode:Mode::oduserMode:euuseuserMode:rMode:seruuseuserMode:ruserMode:ModeuserMode::seuuserMode:serMode:rususeruseruseruseruserMode:Mode:Mode:Mode:Mode:erMode:userMode:ModususerMode:euseruserModeuserMode::Mode:ruseruseuserMode:rModuserMode:e:ModeuseruserMode:ModeuseruserMode:Mode:::Mode:euserModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruserMode:Mode::eruseuserMode:rMuserMode:oduseruseruseruserMode:Mode:Mode:ModuserMode:e:e:Mode:ModuserModeuseuserMode:ruseuserMode:ruserMode:Mode:Mode::e:userMode:useruserMode:Mode:ususeruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e:euserMode:rMouseruseuserMode:ruserMode:ModeuserMode::Mode:de:useruserMode:Mode:userMouseruseruseruserMode:ModeuserMode::Mode:Mode:duserMode:e:ususeruseuseruserMode:Mode:ruseruserMode:Mode:Mode:Mode:eruserMode:useruuserMode:serModuseruseruserModeuserMode::Mode:Mode:e:MuserMode:odeuserMode::userMode:MouseruseruserMode:ModeuserMode::ModuserMode:e:de:userModuseruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:Mode:e:useruserMode:MouseuserMode:ruseruserMode:Mode:ModuserMode:e:de:userMode:userMode:userMouseruseuserMode:ruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::Mode:euserMode::userususeruseuserModeuserMode::ruseruserModeuserMode::de:de:useruseruserModuserMode:euserMode::ModuserMode:e:Mode:.cpp:			rt->useuserMode:rMode:useruseruserMode:Mode:MouseruseruserModuserMode:e:Mode:Mode:deuserMode:userMuserMode:ode::useuserMode:rMode:tfuserususerMode:eruseruserModeuserModeuserMode:::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuserMode:uuserMode:seuseruseruserMode:ModuserMode:e:MouserMode:de:ruserMouserMode:de:MouserMode:de:e:=ususeruserMode:Mode:eruseruserModeuserMode::Mode:Mode:userMouserMode:de:ususerMode:euserMode:ruususerMode:eruserususerMode:eruserMode:ModuserMode:e:Mode:Mode:seuserModeuserMode::userMuserMode:ode:rMususerMode:eruseruserModuserMode:euserMode::Mode:Mode:ode:ModeuseuserMode:ruseuserMode:rMode:ModuuserMode:seruseuseruserMode:ModuseruserMode:Mode:e:rModeuserModuserMode:e::MouserMode:deuuserMode:serMouserMode:deuseruserModeuserMode::Mode:::userMode:e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, rtuseruserMode:ModuserMode:e:-uuserMode:serMode:>tuserMode:f[usuuserMode:serModususeruserMode:Mode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::Mode:erMode:e:ModeuuseuserMode:rMode:seuseruseruserMode:Mode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duseruserMode:Mode:e::f[userMode:1userMode:useuuserMode:seuserususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuseruserMode:Mode:ruserMode:Mode:de:rModeuserMode::]useruserModuseruserMode:Mode:e:Mode:, 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userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:MuserMode:ode:Mode::erMouserMuseruserMode:Mode:ode:de:userususerMode:erModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serModeuserMode::MouserMode:de:userMode:userMode:serModuuseruserMouserMode:de:Mode:seuserMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:deuserMode::userMouserMode:deuserModeuserMode:::userModeuseususerMode:erMode:rMode::userMode:uuserMode:userModeuserMode::seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruseuserMode:rMode:Mode:suseuserMode:userMode:ruserMode:userModuserMode:e:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erususeuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:eususerMode:erMuserMode:ode::dususeruserModeuserMode::ModeuseruserMode:ModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerModuserMode:e:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserModuserMode:e:useruserMuserMode:ouseuseruseruserMode:Mode:ModeuserMode::rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModuserMode:eususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruuserMode:serMode:ModuseruserMode:userMode:Mode:userModuserMode:e:useuserMode:rMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:MouserMode:de:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserMode:userModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeuserMode:ruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruseuserMode:rMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erModuserMode:e:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuseuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:userMode:e:Mode:rt->usuuserMode:suseuserMode:ruserMode:Mode:erModuseuseruserMode:Mode:rMode:e:eruseruserModeuserMode::ModeuserMode::userMouserMouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::de:MuserModuseruserMode:Mode:euseruserMode:Mode::oduserMode:euuseuserMode:rMode:seruuseuserMode:ruserMode:ModeuserMode::seuuserMode:serMode:rususeruseruseruseruserMode:Mode:Mode:Mode:Mode:erMode:userMode:ModususerMode:euseruserModeuserMode::Mode:ruseruseuserMode:rModuserMode:e:ModeuseruserMode:ModeuseruserMode:Mode:::Mode:euserModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:userususeruserMode:ModeuseruseruserMode:Mode:Mode::eruseuserMode:rMuserMode:oduseruseruseruserMode:Mode:Mode:ModuserMode:e:e:Mode:ModuserModeuseuserMode:ruseuserMode:ruserMode:Mode:Mode::e:userMode:useruserMode:Mode:ususeruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e:euserMode:rMouseruseuserMode:ruserMode:ModeuserMode::Mode:de:useruserMode:Mode:userMouseruseruseruserMode:ModeuserMode::Mode:Mode:duserMode:e:ususeruseuseruserMode:Mode:ruseruserMode:Mode:Mode:Mode:eruserMode:useruuserMode:serModuseruseruserModeuserMode::Mode:Mode:e:MuserMode:odeuserMode::userMode:MouseruseruserMode:ModeuserMode::ModuserMode:e:de:userModuseruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:Mode:e:useruserMode:MouseuserMode:ruseruserMode:Mode:ModuserMode:e:de:userMode:userMode:userMouseruseuserMode:ruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::MuserMode:ode:euserMode::userususeruseuserModeuserMode::ruseruserModeuserMode::de:de:useruseruserModuserMode:euserMode::ModuserMode:e:Mode:.cpp:			rt->useuserMode:rMode:useruseruserMode:Mode:MouseruseruserModuserMode:e:Mode:Mode:deuserMode:userMuserMode:ode::useuserMode:rMode:tfuserususerMode:eruseruserModeuserModeuserMode:::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuserMode:uuserMode:seuseruseruserMode:ModuserMode:e:MouserMode:de:ruserMouserMode:de:MouserMode:de:e:=ususeruserMode:Mode:eruseruserModeuserMode::Mode:Mode:userMouserMode:de:ususerMode:euserMode:ruususerMode:eruserususerMode:eruserMode:ModuserMode:e:Mode:Mode:seuserModeuserMode::userMuserMode:ode:rMususerMode:eruseruserModuserMode:euserMode::Mode:Mode:ode:ModeuseuserMode:ruseuserMode:rMode:ModuuserMode:seruseuseruserMode:ModuseruserMode:Mode:e:rModeuserModuserMode:e::MouserMode:deuuserMode:serMouserMode:deuseruserModeuserMode::Mode:::userMode:e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, rtuseruserMode:ModuserMode:e:-uuserMode:serMode:>tuserMode:f[usuuserMode:serModususeruserMode:Mode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rModususeruserModeuseruserMode:ModeuserMode:::MouserMode:de:erMode:e:ModeuuseuserMode:rMode:seuseruseruserMode:Mode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duseruserMode:Mode:e::f[userMode:1userMode:useuuserMode:seuserususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuseruserMode:Mode:ruserMode:Mode:de:rModeuserMode::]useruserModuseruserMode:Mode:e:Mode:, 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userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMode:MuserMode:ode:Mode::erMouserMuseruserMode:Mode:ode:de:userususerMode:erModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruuserMode:userMode:serModeuserMode::MouserMode:de:userMode:userMode:serModuuseruserMouserMode:de:Mode:seuserMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:userMode:useuserMode:rMode:userMouserMode:deuserMode::userMouserMode:deuserModeuserMode:::userModeuseususerMode:erMode:rMode::userMode:uuserMode:userModeuserMode::seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMuserMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruseuserMode:rMode:Mode:suseuserMode:userMode:ruserMode:userModuserMode:e:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:userMode:MouseuserModuserMode:e:rModususerMode:erusuuserMode:seuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:eususerMode:erMuserMode:ode::dususeruserModeuserMode::ModeuseruserMode:ModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e =userMode: userModuseruserMode:Mode:e:JOuserMode:IuserModeususerMode:erMode::NuseusususerModuserMode:e:erMode:userMode:erMode:ruseuserMode:rModeuserMode::MuserMuserMode:ode:ouserMode:deuseruserModuserMode:e:useruserMuserMode:ouseuseruseruserMode:Mode:ModeuserMode::rMode:de:Mode:Mode::T_SERVuuserMode:serMouserMode:de:uususerMode:eruserMouserMode:userMode:deuuserMode:serMode::Mode:suserMuserMode:ode:erMouserususerMode:euseuserMode:rMode:ruserMode:ModuserMode:eususerMode:erMode::Mode:duserMuserModuserMode:e:ode:eususerMode:euseruserMode:MouserMode:deuserMode::ruuserMode:serMode:ModuseruserMode:userMode:Mode:userModuserMode:e:useuserMode:rMode:e::ususerModeuserModuserMode:e::erMoususerModeususerMode:euseruserMode:Mode:rMode::erMode:dususerMuserMode:ode:euuserMode:serMode:rModeuserMode::e:ususeruseruserMode:Mode:MouserMode:de:erMode:uuserMode:seuseuuserMode:serMode:rModususerMode:eruserMouserModeuserMode::duserMode:userMode:euserMode:userModuserMode:e::Mode:eususerMode:erMuserModuseuserMode:rMode:e:ode::rususeuserMode:ruserModeuserMode::Mode:userMode:euserMode:rususerMode:eususerMode:eruserMode:userMode:ModeuserMode:userMode::rMouserMode:de:MuserMode:ode:MouuseuuserMode:seruseuserMode:rMode:Mode:rMode:suserMode:eruserMode:Mode:de:ususerModeuserMode::euseusuuserModuserMode:e:serMode:erModuserMode:e:ruseuserMode:userMode:rModeuserMode::ModeuuserMode:seruseruserMode::Mode: = rt->time;
userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususerMode:eruseuseruserMode:Mode:ruseuserMode:ruserModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:Mode:ususerMode:euseruseruserMode:Mode:ModeuserMode::Mode::MouserMode:de:		useruserMode:Mode:rt->userMode:qguseruseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode:ModuserMode:e:oaluseruserMode:Mode:[1] userMode:= tuuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:deususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e::uuserMode:suseruseruserMode:Mode:ModeuserMode::erMouseruserMode:Mode:de:uuserMode:seuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:rususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::rModuseruserMode:Mode:e:MouserMode:deuseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode:Mode:Mode::rt->useuserMode:ruseruserMode:ModeuserMode::Mode:qgoauseruseruserMode:Mode:Mode:l[2] =ususerMode:euseruserMode:ModeuserMode::rMode: ususeruseruserMode:Mode:Mode:euseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode::ruserMouserMode:duseruserMode:ModeuserMode::e:Mode:tuuseruseruserMode:Mode:Mode:serususeuserMode:ruseruserMode:ModeuserMode::Mode:euseuseruseruserMode:Mode:Mode:ruserModuserMode:euseruserMode:ModeuserMode:::Mode:rMouseruseruserMode:Mode:Mode:de:MouseuserMode:ruseruserMode:ModeuserMode::Mode:deususeruseruserMode:Mode:Mode:eruserMouserMode:duseruserMode:ModeuserMode::e:ModeuseuseruseruserMode:Mode:Mode:ruseruseuserMode:ruseruserMode:ModeuserMode::Mode:ModeuseruseruserMode:Mode:Mode:::rModeuuserMode:suseruserMode:ModeuserMode::erMode::	useruseruserMode:Mode:Mode:rt->q[0]userMode:,useruserMode:ModeuserMode:: useruseruseruseruserMode:Mode:Mode:Mode:ModuserMode:euseruserMode:ModeuserMode:::ruseruseuseruseruserMode:Mode:Mode:rMode:MouserMode:duseruserMode:ModeuserMode::e:tuserMouseruseruserMode:Mode:Mode:duseruseuserMode:ruseruserMode:ModeuserMode::ModuserMode:e:ModeuseruseruseruserMode:Mode:Mode:Mode::e:userMode:e:Mode:rt->usuuserMode:suseuserMode:ruserMode:Mode:erModuseuseruserMode:Mode:rMode:e:eruseruserModeuserMode::ModeuserMode::userMouserMouserMode:deuseruseruseruserMode:ModeuserMode::Mode:Mode::de:MuserModuseruserMode:Mode:euseruserMode:Mode::oduserMode:euuseuserMode:rMode:seruuseuserMode:ruserMode:ModeuserMode::seuuserMode:serMode:rususeruseruseruseruserMode:Mode:Mode:Mode:Mode:erMode:userMode:ModususerMode:euseruserModeuserMode::Mode:ruseruseuserMode:rModuserMode:e:ModeuseruserMode:ModeuseruserMode:Mode:::Mode:euserModuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:e::Mode::qgouserMode:auseuserMode:ruserMode:Mode:l[0],useuseruserMode:Mode:rMode: rt-useruserModeuserMode::ModeuserMode::>userMode:quuserMode:seuseruseruseruserMode:ModeuserMode::Mode:Mode:ruserMode:MouseruserMode:Mode:duseruserMode:Mode:e:guserMode:oauseuserMode:rMode:useuuseuserMode:ruserMode:ModeuserMode::seruserMode:useruseuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:rMuserMode:ode:MuserMode:ouseruserModeuserMode::Mode:de:MouseuserMode:rModuserMode:e:duseuseruserMode:ModeuseruserMode:Mode::rMode:e:rModeuuseruseuserMode:ruseruserMode:Mode:Mode:ModuserMode:e:serModuserMouserMode:duseuserMode:ruserMode:Mode:euseruseuseruserMode:Mode:rMode:ModeuseruserModeuserMode::ModeuserMode::::e::l[1], ruserMode:t-uuseuseruseruserMode:ModeuserMode::Mode:rModeuserMode::suuseruserMode:Mode:suseruserMode:Mode:erMuserMode:ode:euserMode:useruserMouseuserMode:ruserMode:ModeuserMode::dususerMode:eruserMode:ModeuseruseruseruserMode:Mode:Mode:Mode::e:Mode:rMouuserMode:serususerMode:euseruserModeuserMode::Mode:rModeuseuserMode:rModuserMode:e::ModuseruserMode:ModeuseruserMode:Mode::e:de:>qgouseruseususeuserMode:ruseruserMode:Mode:Mode:eususerMode:eruserMode:e::userMode:MuseuserMode:ruserMode:Mode:ode:(rt-useruserMode:Mode:>qgouserMouseruserMode:ModeuseruserMode:Mode::de:userModuseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:e:useususeruserMode:Mode:euseruserMode:Mode:rMode:rMuseruserMode:Mode:ode:useruserMode:ususeruserMode:ModeuseruseruserMode:Mode:Mode::eruseuserMode:rMuserMode:oduseruseruseruserMode:Mode:Mode:ModuserMode:e:e:Mode:ModuserModeuseuserMode:ruseuserMode:ruserMode:Mode:Mode::e:userMode:useruserMode:Mode:ususeruseruseruserMode:Mode:ModuserMode:e:ModuserMode:e:euserMode:rMouseruseuserMode:ruserMode:ModeuserMode::Mode:de:useruserMode:Mode:userMouseruseruseruserMode:ModeuserMode::Mode:Mode:duserMode:e:ususeruseuseruserMode:Mode:ruseruserMode:Mode:Mode:Mode:eruserMode:useruuserMode:serModuseruseruserModeuserMode::Mode:Mode:e:MuserMode:odeuserMode::userMode:MouseruseruserMode:ModeuserMode::ModuserMode:e:de:userModuseruseruseruseruseruseruserMode:Mode:Mode:Mode:Mode:Mode:Mode:e:useruserMode:MouseuserMode:ruseruserMode:Mode:ModuserMode:e:de:userMode:userMode:userMouseruseuserMode:ruserMode:Mode:Mode:de:userMode:useuuserMode:serModeuseruseruseruserMode:ModeuseruserMode:Mode::Mode:Mode::ruseuserModeuseruseuserMode:ruseruserMode:Mode:Mode:Mode::ruserMuserMode:ode:Mode:MouseuserMode:ruseruserModeuserMode::Mode:Mode:de:userMode:userMode:usususerMode:eruseruseruserMode:Mode:Mode:ModuseruserMode:Mode:e:erMode:useuseuseruseruserModeuserMode::ModeuserMode::Mode:ruserMode:Mode:ruserMode:MouseruseruseruserMode:Mode:Mode:ModuserMode:e:de:userMode:->useruseuserMode:ruseuserMode:ruserMode:Mode:Mode:Mode:miuseruuseruserMode:Mode:serModuseruseruserMode:Mode:ModuserMode:e:e:MuserMode:ode:nuseruseuseuseruseuserMode:ruserMode:ModeuserMode::Mode:ruserMouserMode:de:ModeuseruseruseruseruserMode:ModeuserMode::Mode:Mode:Mode::rMode:Mode::useuseruserMode:Mode:ruseruserMode:Mode:Mode:		rt->tuserMode:f[i] userMode:userMouseruseruserModeuserMode::Mode:Mode:de:userMode:= 0.useruseususerMode:eruseruseruserMode:ModeuserMode::ModuserMode:e:Mode:ruseruserModeuseruseruseruseruserMode:Mode:Mode:Mode:Mode::Mode:Mode:Mode:userMode:0uuseuserMode:ruseruserMode:Mode:ModuserMode:e:serMode:useruserMode:ususeruseruseuserMode:ruserMode:Mode:Mode:ModuserMode:e:eruserMode:Mode:Mode:uuseruseruserMode:ModeuseruserMode:Mode::Mode:serModuseruserModeuseruseuseruserMode:Mode:ruseruserMode:Mode:Mode:Mode::MuserMode:ode:euserMode::userususeruseuserModeuserMode::ruseruserModeuserMode::de:de:useruseruserModuserMode:euserMode::ModuserMode:e:Mode:.cpp:			rt->useuserMode:rMode:useruseruserMode:Mode:MouseruseruserModuserMode:e:Mode:Mode:deuserMode:userMuserMode:ode::useuserMode:rMode:tfuserususerMode:eruseruserModeuserModeuserMode:::Mode:Mode:Mode:[i]useuserMode:ruserMode:ModuserMode:uuserMode:seuseruseruserMode:ModuserMode:e:MouserMode:de:ruserMouserMode:de:MouserMode:de:e:=ususeruserMode:Mode:eruseruserModeuserMode::Mode:Mode:userMouserMode:de:ususerMode:euserMode:ruususerMode:eruserususerMode:eruserMode:ModuserMode:e:Mode:Mode:seuserModeuserMode::userMuserMode:ode:rMususerMode:eruseruserModuserMode:euserMode::Mode:Mode:ode:ModeuseuserMode:ruseuserMode:rMode:ModuuserMode:seruseuseruserMode:ModuseruserMode:Mode:e:rModeuserModuserMode:e::MouserMode:deuuserMode:serMouserMode:deuseruserModeuserMode::Mode:::userMode:e::ususerModususerMode:euserMode:rModuserModeuserMode::e:e:euuseruserMode:ModuserMode:e:serMode:rMouserMode:duserMode:e:useuserMode:ruserMususerMode:erususerMode:eruserModeuserMode::Mode:Mode:ode:MuserMouseruserMode:Mode:duserMode:e:ouuserMode:seruseuseruserModuserMode:e:ModuserMode:e:rModeuserModuserMode:e::MouseuserMode:rMode:de:deuseuserMode:rMuseruserModeuserModeuserMode:::Mode:odeuserMode:::ususerMode:euserMode:rMouserMode:duserMode:e:, rtuseruserMode:ModuserMode:e:-uuserMode:serMode:>tuserMode:f[usuuserMode:serModususeruserMode:Mode:eruseruserMode:Mode:ModuserMode:e:e:erususerMode:useruuserMode:suserMode:erMode:ModuseruserModuserMode:euserMode::ModuserMode:e:e:erMuserMode:odeuseuserMode:rMode:ususerModeuseuseruserMode:Mode:ruserModuserMode:e:Mode::erMode::ModeuuseuserModeuserMode::rMouserMode:duserMode:e:serMuseruserMode:Mode:ode::0]useruserMode:Mode:, rt->tuseuseruserMode:Mode:rususeuserususerMode:eruseuserMode:rMode:Mode:Mode:ruserususerModeuserMode::erModuserModeuserMode::e:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usususerMode:erMode:erMuseuserMode:rMode:ode:rMouserMode:dususeruserModeuseruserMode:ModeuserMode:::MouserMode:de:erMode:e:ModeuuseuserMode:rMode:seuseruseruserMode:Mode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:duseruserMode:Mode:e::f[userMode:1userMode:useuuserMode:seuserususeruserMode:Mode:eruserMode:ModuserMode:e:Mode:ruserMode:MouseuseruserMode:Mode:ruserMode:Mode:de:rModeuserMode::]useruserModuseruserMode:Mode:e:Mode:, 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=userMode: 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=userMode: 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userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuserususerModeuseruseruserMuserMode:ode:MuserMode:ode:Mode::erMouserMuseruserMode:Mode:ode:de:userususerMode:erModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserMode:e:seuseuserMode:rMode:rMode:seruuuseruususerMode:erMode:userMode:serModeuserMode::MouserMode:de:userMode:userMode:serModuuseruserMouserMode:de:Mode:seuserMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMode:rMode:e:l(rt->piduserMode:userMouserMode:de:useuserMode:rMode:useuserMode:rMode:userMouserMode:deuserMode::userMouserMode:deuserModeuserMode:::userModeuseususerMode:erMode:rMode::userMode:uuserMode:userModeuserMode::seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:ode:useruserMode:::rt->useruserMode:Mode:uuseuserMususerMode:erMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruseuserMode:rMode:Mode:suseuserMode:userMode:ruserMode:userModuserMode:e:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->userMode:useruserMode:ususerMode:erMode:MouseuserModuserMode:e:rModususerMode:erusuuserMode:seuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:eususerMode:erMuserMode:ode::dususeruserModeuserMode::ModeuseruserMode:ModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMode:e:e 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rtuuseruserMode:Mode:serMouserMode:userMode:deuserMode::uususerMode:erModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauusususerMode:erMode:erModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuserMode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duseruserMode:Mode:euserMode::userMouserMode:de:3],useruserMode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userModuserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:userMode:e:Mode: userMouserModuserModeuserMode::euserMode::de:userMode:rt-userMode:userMouseruserModeuserMususerMode:erModeuserMode:rususerMouserMode:userMode:de:erMode:ModeuuserModuserMode:e:suserMode:erMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0useruserMode:Mode:], 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userMode:rt->userModuserMode:euserMuserMode:oduserMode:e::uuserMode:serMode:tiuserMode:muserMuseruseuserMode:rMode:Mode:odeuseuseruserMode:Mode:rMode::userMode::sususerMode:userMode:erModeuserMode::euserModuserModuserMode:e:e:userMode:ruserMode:useuserMuserususerMode:erModuserMode:e:Mode:ouuserMouseruserModuserMode:e:Mode:de:serMode:deususerMode:useruserMode:Mode:erMode::ususeruserMode:Mode:euserMode:rMode:rMuserMode:ouserMode:de:Mode:e:useuserModeuserMode::rMuserMode:ode:uuserMode:serususerMode:erMode:Mode:ruserMode:t->ususerMouserMode:de:userMode:er_useuseuuserMode:suserMode:erMuserMode:userModeuserMode::oduseuserModeuserMode::rModeuserMode::e:rMuserMouseruseruserMode:Mode:Mode:de:ode:deuserMuserMode:ode::suserMode:erMuserMode:ode:ususususerMode:euseuserMode:ususerMode:erMode:rMode:rMode:euuserMode:suserMode:erMode:rMode:userMouserMode:duseruuserMode:serMode:Mode:e:userMode:erMouseruserMode:Mode:deuseruserMode:MouserMode:de::useuserMode:rMode:		//		useruserMode:ModuuserMode:seuserMode:userModeuserMode::ruserMode:MouserMode:duseruserMode:Mode:e:e:	rtuseruserMode:Mode:->xuuserModuserMode:e:suserMode:erMode:userMode:ususerMode:erMode:[1]ususerModeuseuserMode:rMode::eruserMuserMode:ode:MuserMode:odusususerMode:erModeuserMode::userMode:eususeruserMode:Mode:erMode:rMode:e:, 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useruserMode:ModuserMode:e:5uuserMode:seruserMode:ModeususerMuserMode:ode:erMode::7.ususerMode:useuserMode:rMode:erMode:3*rt-useuseuseuserModeuseuserMouserMode:de:rMuserMode:ode::rMode:rMuserMode:ode:ususerMode:ususeruserMode:MouserMode:de:erMode:erMode:rMouseruuserModuserMode:e:serMode:userMuserModuserMode:e:ode:ModuususeuserMode:rMode:erMode:seuserMode:rMode:e:de:>userMode:q_desuuseuserMode:rMode:serususerMode:erMouserMode:duuserMode:userMode:seruseuserMode:rMuserMode:userMode:ode:MouserMode:deuseruserMouseruserMode:Mode:de:ModuserMode:e::e:ususerMode:eruserModeuserMode::ModeususerMode:userMode:eruserMuserModeuserMuserMode:ode::ode:Mode:::MoususerMode:userModuserMouserMode:de:e:erMuserModuserMode:e:ode:de:userMode:useruseruserMode:Mode:MususerMode:useruserMode:MouserMuserMode:ouserMode:deususerMode:erMode::de:euserMode:rMususeruserMoususerMode:erMouserMouserMode:de:deuserMode:userMode::de:ModuseruserMode:Mode:e:erMode:ouseususerModuuserMode:serModeuserMode::e:erMode:rMode:de:ouserMode:useruserMode:ModuserModeuserMode::e:deuserMode::userMode:uuuserModuserMode:euserMode::uuuserModuserMode:e:serModuserMode:euserMode::serModeuserMuserMode:oduserMode:userMode:e::seruseuserMode:rMode:MouserMode:userMode:duserMode:euserMode:useuserMode:rMode::seruserususerMuserModeuserMode::ode:erMode:Mode:userMode:ModeuseuseruuserModeuserModuserMode:e::serMode:Mode:ruserMode:Mode::pp:userMode:userMode:		userMode:	userMode:	userMode:useruserModeuserMode::Mode:57.3*ruserMuserMode:ode:tuserMode:->duserMode:q[userMode:0userMode:userModeuuserMode:serModuserMode:e::],uususerMode:eruserMuserMode:userMode:userMode:ode:MuserMuserMode:ususerMode:erMode:ouserMode:de:ode:serMode: 57.useruserModuserMode:e:Mode:uuserMode:useruserMode:userMode:Mode:useuserMode:rMode:serMode:userMode:3uuserMode:suserMode:eruserMode:ModuserMode:euserModuserMode:e::*rt->duserMode:uususerMode:erMususerMode:erMode:ode:serModuserMode:uuserMode:serModeuserMuserModeuserMode::ode:useruserModeuserMode::Mode::euserMouseuserMode:rMode:de::q[userMode:1]uuserModeuserMode::serMode:,userususerMode:erMode:MuserMode:ode:useruseruseuserMode:rMode:userMode:MouserModeuserMode::de:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMuserMode:serMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:eruseuserMode:rMode:MouuserMode:serMode:de:MouserMode:deususerMode:erMode::userMode:3*userMode:rt-userMode:Mode:, 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rtuuseruserMode:Mode:serMouserMode:userMode:deuserMode::uususerMode:erModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauusususerMode:erMode:erModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuserMode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:Mode:euserMode::userMouserMode:de:3],useruserMode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userModuserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:userMode:e:Mode: userMouserModuserModeuserMode::euserMode::de:userMode:rt-userMode:userMouseruserModeuserMuuserMode:suserMode:erModeuserMode:rususerMouserMode:userMode:de:erMode:ModeuuserModuserMode:e:suserMode:erMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0useruserMode:Mode:], 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userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userMode:uuseruserMode:ususerModeuseruseruserMuserMode:ode:MuserMode:ode:Mode::erMouserMuseruserMode:Mode:ode:de:userususerMode:erModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMode:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::erMode:e:deuserMode:de::(kiuuuserModuserModeuserMode::e:seuseuserMode:rMode:rMode:seruuuseruususerMode:erMode:userMode:serModeuserMode::MouserMode:de:userMode:userMode:serModuuseruserMouserMode:de:Mode:seuserMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ode:ode:lususerMode:euuserMode:serModeuserMuserMode:ode::rModuserModuserMode:e:useuserMouserMode:de:rMode:e:l(rt->piduserMode:userMouserMode:de:useuserMode:rMode:useuserMode:rMode:userMouserMode:deuserMode::userMouserMode:deuserModeuserMode:::userModeuseususerMode:erMode:rMode::userMode:uuserMode:userModeuserMode::seuseruserMode:Mode:rMode:useuserMode:rMode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:oduserMode:e:useruserMode:::rt->useruserMode:Mode:uuseuserMususerMode:erMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruseuserMode:rMode:Mode:suseuserMode:userMode:ruserMode:userModuserMode:e:userususerMode:eruserMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->uuserMode:serMode:useruserMode:ususerMode:erMode:MouseuserModuserMode:e:rModususerMode:erusuuserMode:seuserMode:rModuseruserMode:Mode:e:erMouserMode:deususerMode:erMode::Mode:eususerMode:erMuserMode:ode::dususeruserModeuserMode::ModeuseruserMode:ModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMuserMode:ode:e:e 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rtuuseruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauusususerMode:erMode:erModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuserMode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:Mode:euserMode::userMouserMode:de:3],useruserMode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userModuserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:userMode:e:Mode: userMouserModuserModeuserMode::euserMode::de:userMode:rt-userMode:userMouseruserModeuserMuuserMode:suserMode:erModeuserMode:rususerMouserMode:userMode:de:erMode:ModeuuserModuserMode:e:suserMode:erMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0useruserMode:Mode:], 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rtuuseruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauusususerMode:erMode:erModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuserMode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:Mode:euserMode::userMouserMode:de:3],useruserMode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userModuserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:userMode:e:Mode: userMouserModuserModeuserMode::euserMode::de:userMode:rt-userMode:userMouseruserModeuserMuuserMode:suserMode:erModeuserMode:rususerMouserMode:userMode:de:erMode:ModeuuserModuserMode:e:suserMode:erMode::userMode:uuserMode:_userMuserMode:uuserMode:serMode:ode:userMode:des[0useruserMode:Mode:], 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rtuuseruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauusususerMode:erMode:erModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuseruserMode:Mode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:Mode:euserMode::userMouserMode:de:3],useruserMode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userMuserMode:oduserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:userMode:e:Mode: userMouserModuserModeuserMode::euserMode::de:userMode:rt-userMode:userMouseruserModeuserMuuserMode:suserMode:erModeuserMode:rususerMouserMode:userMode:de:erMode:ModeuuserModuserMode:e:suserMode:erMode::userMode:uuserModeuserMode::_userMuserMode:uuserMode:serMode:ode:userMode:des[0useruserMode:Mode:], 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rtuuseruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauusususerMode:erMode:erModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuseruserMode:Mode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:Mode:euserMode::userMouserMode:de:3],useruserMode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userMuserMode:oduserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:userMode:e:Mode: userMouserModuserModeuserMode::euserMode::de:userMode:rt-userMode:userMouseruserModeuserMuuserMode:suserMode:erModeuserMode:rususerMouserMode:userMode:de:erMode:ModeuuserModuserMode:e:suserMode:erMode::userMode:uuserModeuserMode::_userMuserMode:uuserMode:serMode:ode:userMode:des[0useruserMode:Mode:], 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rtuuseruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauusususerMode:erMode:erModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuseruserMode:Mode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:Mode:euserMode::userMouserMode:de:3],useruserMode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userMuserMode:oduserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:userMode:e:Mode: userMouserModuserModeuserMode::euserMode::de:userMode:rt-userMode:userMouseruserModeuserMuuserMode:suserMode:erModeuserMode:rususerMouserMode:userMode:de:erMode:ModeuuserModuserMode:e:suserMode:erMode::userMode:uuserModeuserMode::_userMuserMode:uuserMode:serMode:ode:userMode:des[0useruserMode:Mode:], 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rtuuseruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauusususerMode:erMode:erModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuseruserMode:Mode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:Mode:euserMode::userMouserMode:de:3],useruserMode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userMuserMode:oduserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:userMode:e:Mode: userMouserModuserModeuserMode::euserMode::de:userMode:rt-userMode:userMouseruserModeuserMuuserMode:suserMode:erModeuserMode:rususerMouserMode:userMode:de:erMode:ModeuuserModuserMode:e:suserMode:erMode::userMode:uuserModeuserMode::_userMuserMode:uuserMode:serMode:ode:userMode:des[0useruserMode:Mode:], 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rtuuseruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauusususerMode:erMode:erModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuseruserMode:Mode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:Mode:euserMode::userMouserMode:de:3],useruserMode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userMuserMode:oduserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:userMode:e:Mode: userMouserModuserModeuserMode::euserMode::de:userMode:rt-userMode:userMouseruserModeuserMuuserMode:suserMode:erModeuserMode:ruserMode:ususerMouserMode:userMode:de:erMode:ModeuuserModuserMode:e:suserMode:erMode::userMode:uuserModeuserMode::_userMuserMode:uuserMode:serMode:ode:userMode:des[0useruserMode:Mode:], 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rtuuseruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauusususerMode:erMode:erModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuseruserMode:Mode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:Mode:euserMode::userMouserMode:de:3],useruserMuserMode:ode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userMuserMode:oduserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:userMode:e:Mode: userMouserModuserModeuserMode::euserMode::de:userMode:rt-userMode:userMouseruserModeuserMuuserMode:suserMode:erModeuserMode:ruserMode:ususerMouserMode:userMode:de:erMode:ModeuuserModuserMode:e:suserMode:erMode::userMode:uuserModeuserMode::_userMuserMode:uuserMode:serMode:ode:userMode:des[0useruserMode:Mode:], 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&userMode:& (rt->ususeuserModeuserMouserMode:deuserMode:::rMode:erEusuuserModeuserModeuserMode::userModeususeuserMode:rMode:euserMode:ruserMode:userMode:Mode:::serMuserMode:ouserMode:duserMode:euserMode::userMode:erMouserMode:userMoususerMode:erMode:de:deuserMode::xit userMode:!=uuserMode:sususeruseususerMode:erMode:rMouseruserModeuserMode::Mode:de:ModeuseuserMode:rMode::erModeuserModeuserMode::userMode::euuserMode:seruserMode:uuserMode:suserMode:eruseuserMode:rMode:ModeuserMode::Mode:ruseruseruserMode:Mode:MouseuserMode:rModuserMode:e:de:MuseruserMode:Mode: 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rtuuseruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauusususerMode:erMode:eruserMode:ModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuseruserMode:Mode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:Mode:euserMode::userMouserMode:de:3],useruserMuserMode:ode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userMuserMode:oduserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:userMode:e:Mode: userMouserModuserModeuserMode::euserMode::de:userMode:rt-userMode:userMouseruserModeuserMuuserMode:suserMode:erModeuserMode:ruserMode:ususerMouserMode:userMode:de:erMode:ModeuuserModuserMode:e:suserMode:erMode::userMode:uuserModeuserMode::_userMuserMode:uuserMode:serMode:ode:userMode:des[0useruserMode:Mode:], 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rtuuseruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauusususerMode:erMode:eruserMode:ModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuseruserMode:Mode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:Mode:euserMode::userMouserMode:de:3],useruserMuserMode:ode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userMuserMode:oduserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:userMode:e:Mode: userMouserModuserModeuserMode::euserMode::de:userMode:rt-userMode:userMouseruserModeuserMuuserMode:suserMode:erModeuserMode:ruserMode:ususerMouserMode:userMode:de:erMode:ModeuuserModuserMode:e:suserMode:erMode::userMode:uuserModeuserMode::_userMuserMode:uuserMode:serMode:ode:userMode:des[0useruserMode:Mode:], 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&userMode:& (rt->ususeuserModeuserMouserMode:deuserMode:::rMode:erEusuuserModeuserModeuserMode::userModeususeuserMode:rMode:euserMode:ruserMode:userMode:Mode:::serMuserMode:ouserMode:duserMode:euserMode::userMode:erMouserMode:userMoususerMode:erMode:de:deuserMode::xit userMode:!=uuserMode:sususeruseususerMode:erMode:rMouseruserModeuserMode::Mode:de:ModeuseuserMode:rMode::erModeuserModeuserMode::userMode::euuserMode:seruserMode:uuserMode:suserMode:eruseuserMode:rMode:ModeuserMode::Mode:ruseruseruserMode:Mode:MouseuserMode:rModuserMode:e:de:MuseruserMode:Mode: 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rtuuseruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauusususerMode:erMode:eruserMode:ModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuseruserMode:Mode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:Mode:euserMode::userMouserMode:de:3],useruserMuserMode:ode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userMuserMode:oduserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:userMode:userMode:e:Mode: userMouserModuserModeuserMode::euserMode::de:userMode:rt-userMode:userMouseruserModeuserMuuserMode:suserMode:erModeuserMode:ruserMode:ususerMouserMode:userMode:de:erMode:ModeuuserModuserMode:e:suserMode:erMode::userMode:uuserModeuserMode::_userMuserMode:uuserMode:serMode:ode:userMode:des[0uuserMode:seruserMode:Mode:], 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rtuuseruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauusususerMode:erMode:eruserMode:ModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuseruserMode:Mode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:Mode:euserMode::userMouserMode:de:3],useruserMuserMode:ode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userMuserMode:oduserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:ususerMode:erMode:userMode:e:Mode: userMouserModuserModeuserMode::euserMode::de:userMode:rt-userMode:userMouseruserModeuserMuuserMode:suserMode:erModeuserMode:ruserMode:ususerMouserMode:userMode:de:erMode:ModeuuserModuserMode:e:suserMode:erMode::userMode:uuserModeuserMode::_userMuserMode:uuserMode:serMode:ode:userMode:des[0uuserMode:seruserMode:Mode:], 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57.useruserModuserMode:e:Mode:uuserMode:useruserMode:userMode:Mode:useuuserMode:serMode:rMode:serMode:userMode:3userMode:uuserMode:suserMode:eruserMode:ModuserMode:euserModuserMode:e::*rt->duserMode:uususerMode:erMususerMode:erMode:ode:serModuserMode:uuserMode:serModeuserMuserModeuserMode::userMode:ode:useruserModeuserMode::Mode::euserMouseuserMode:rMode:de::q[userMode:1]uuserModeuseuserMode:rMode::serMode:,userususerMode:erMode:MuserMode:oduserMode:e:useruseruseuserMode:rMode:userMode:MouserModeuserMode::de:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMuseuserMode:rMode:serMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:eruseuserMode:rMuserMode:ode:MouuserMode:serMode:de:MouserMode:deususerMode:erMode::userMode:userMode:3*userMode:rt-userMode:Mode:, 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rtuuseuserMode:ruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauusususerMode:erMode:eruserMode:ModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuseruserMode:Mode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:userMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:Mode:euserMode::userMouserMode:de:3],useruserMuserMode:ode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userMuserMode:oduserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:ususerMode:erMode:userMode:e:Mode: 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userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userModeuserMode::uuseruserMode:ususerModeuseruseruserMuserMode:ode:MuserMode:ode:Mode::eruserMode:MouserMuseruserMode:Mode:ode:de:userususerMode:erModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMouserMode:de:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::eruserMode:Mode:e:deuserMode:de::(kiuuuserModuserModeuserModuserMode:e::e:seuseuserMode:rMode:rMode:seruuuseruuuserMode:suserMode:erMode:userMode:serModeuserMode::MouserMode:de:userMode:userMode:serModuuseruserMouserMode:de:Mode:seuuserMode:serMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ouserMode:de:ode:lususerMode:euuserMode:serModeuserMuserModuserMode:e:ode::rModuserModuserMode:e:useuserMouserMode:de:rMode:e:l(rt->pidususerMode:erMode:userMouserMode:de:useuserMode:rMode:useuserMode:rMode:userMouserMode:deuserModuserMode:e::userMouserMode:deuserModeuserMode:::userModeuseususerMode:erMode:rMode::userMode:uuserMode:userModeuuserMode:serMode::seuseruserMode:Mode:rMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:oduseruserMode:Mode:e:useruserMode:::rt->useruserMode:Mode:uuseuserMususeuserMode:rMode:erMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruseuserMode:rMode:Mode:suseuserMode:userMuserMode:ode:ruserMode:userModuserMode:e:userususerMode:eruserMode:userMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->uuserMode:serMode:useruserMode:ususerModeuserMode::erMode:MouseuserModuserMode:e:rModususerMode:erusuuserMode:seuserMode:rModuseruserMode:Mode:e:erMouseruserMode:Mode:deususerMode:erMode::Mode:eususerMode:erMuseuserMode:rMode:ode::dususeruserModeuserMode::ModeuseruserMode:ModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMuserMode:ode:e:e 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57.useruserModuserMode:e:Mode:uuserMode:useruserMode:userMode:Mode:useuuserMode:serMode:rMode:serMode:userMode:3userMode:uuserMode:suserMode:eruserMode:ModuserMode:euserModuserMode:e::*rt->duserMode:uususerMode:erMususerMode:erMode:ode:serModuserMode:uuserMode:serModeuserMuserModeuserMode::userMode:ode:useruserModeuserMode::Mode::euserMouseuserMode:rMode:de::q[userMode:1]uuserModeuseuserMode:rMode::serMode:,userususerMode:erMode:MuserMode:oduserMode:e:useruseruseuserMode:rMode:userMode:MouserModeuserMode::de:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMuseuserMode:rMode:serMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:eruseuserMode:rMuserMode:ode:MouuserMode:serMode:de:MouserMode:deususerMode:erMode::useuserMode:rMode:userMode:3*userMode:rt-userMode:Mode:, useuserMode:ruserMuserMode:ode:Mode:rt-userModeuserMode::>tuseruserMuuseuserModeuserModeuserMode:::rModeuserMode:userMuserMuserMode:odeuseruserMode:userMouuserMode:serMode:de:Mode::ouserMode:duserModuserMode:e:e:userMouuserMode:serMode:de::userModeuserMode::seuserMode:ruserMode:ModuserModuserMode:e:euuserMode:suserMode:erMuserMode:ode::odeuserMode::ModeuuserMode:serMode::auuserMode:[2uususerMode:erMuserMode:ouserMode:duserMouserMode:de:euserMode:userModeuserMode:::userMouserMode:userMode:de:serMouserMuserMode:ode:de:uuserMode:seuserModeuserMode::rModuserMouserMode:userMode:de:e:], rtuuseuserMode:ruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauusususerMode:erMode:eruserMode:ModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuseruserMode:Mode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:userMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:Mode:euserMode::userMouserMode:de:3],useruserMuserMode:ode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userMuserMode:oduserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:ususerMode:erMode:userMode:e:Mode: userMouserModuserModeuserMode::euserMode::de:userMode:rt-userMode:userMouseruserModeuserMuuserMode:suserMode:erModeuserMode:ruserMode:ususerMouserMode:userMode:de:erMode:ModeuuserModuserMode:e:suserMode:erMode::userMode:uuserModeuserMode::_userMuserMode:uuserMode:serMode:ode:userMode:des[0uuserMode:seruserMode:Mode:], rt-userMouseruserMode:MuserMode:ode:deuseuserMode:Mode:rMode:serModeuseuseruserMode:Mode:ruserMode:Mode::::,userMode:usususerModeuserMode::erModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususeruserMode:ModeuserMode::erMode:rModuserMode:euserMode::: 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userMode:ruserMode:useuserMouserMode:de:ruserMode:MouserModeuserMode::de:tususerMode:erususeruserMode:ModeuseruserMode:Mode::euserModeuuserMode:serMode::rMouserMode:de:MuserMode:ode:userMode:useuserMode:uuserMode:serMode:rModuserMouserMode:de:ususeruseruserMode:Mode:Mode:erMode:e:-useruseusususerMuserModeuserMode::ouserMode:de:erMode:eruserMode:MuserMode:ouseuserMode:rMode:de:rModeuserMode:userusuuserModeuuserMode:serMode:userMode::serModuserMode:e:eruseuuserMode:serMode:userMuserMode:odeuseruserMode:Mode::useruserMode:MouserMode:de:rModeuserMode::ModuserModuserMode:e:ususeuserMode:rModeuserMode::erMode:userMouserMode:de:seruserMususerMode:erMode:ouserususerMode:eruserMode:Mode:Mode:deuserMode::MususerMode:eruseuserMode:ruseruserMode:Mode:ModeuserMode::Mode:odeuserMode::userMode:useruserMode:userMode:Mode::uuserMode:ususerMode:erMuserMode:ode:serususerMode:erMode:org.useruserMuseruserMode:Mode:userMode:ode:useruserMode:MuuseruserMode:Mode:seuserMode:userModeuserMode:useruserMode:MouserModuserMode:e:de::rMuserMouuserMode:serMode:de:ode:oduserMode:e:MuserMode:ode:cuserMode:ppuserMode:useuserMode:ruserMode:Mode:useruserModeuserMode::Mode::					userMode:rususerMode:eruserModeuseuserMode:ruserMode:Mode::Mode:t-useuseruserMode:Mode:rMuserModuserMode:uuserMode:suuseruseruserMode:Mode:Mode:seuserMode:rMode:eruserMouserMode:deuserModeususeruserMode:Mode:eruserMode:Mode:::Mode:e:userMode:ode:>useuserModeuserMode::rMode:forceuseruserModuserMode:e:userModuserModuserMode:e:e:MuserususerMode:erMode:Mode:ouserMode:duserMode:e:[1], userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userModeuserMode::uuseruserMode:ususerModeuseruseruserMuserMode:oduserMode:e:MuserMode:ode:Mode::eruserMode:MouserMuseruserMode:Mode:ode:de:userususerMode:erModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMouserMode:de:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::eruserMode:Mode:e:deuserMode:de::(kiuuuserModuserModeuserModuserMode:e::e:seuseuserMode:rMode:rMode:seruuuseruuuserMode:suserMode:erMode:userMode:serModeuserMode::MouserMode:de:userMode:userMode:serModuuseruserMouserMode:de:Mode:seuuserMode:serMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ouserMode:de:ode:lususerMode:euuserMode:serModeuserMuserModuserMode:e:ode::rModuserModuserMode:e:useuserMouserMode:de:rMode:e:l(rt->pidususerMode:erMode:userMouserMode:de:useuserMode:rMode:useuserMode:rMode:userMouserMode:deuserModuserMode:e::userMouserMode:deuserModeuserMode:::userModeuseususerMode:erMode:rMode::userMode:uuserMode:userModeuuserMode:serMode::seuseruserMode:Mode:rMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:oduseruserMode:Mode:e:useruserMode:::rt->useruserMode:Mode:uuseuserMususeuserMode:rMode:erMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruseuserMode:rMode:Mode:suseuserMode:userMuserMode:ode:ruserMode:userModuserMode:e:userususerMode:eruserMode:userMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->uuserMode:serMode:useruserMode:ususerModeuserMode::erMode:MouseuserModuserMode:e:rModususerMode:erusuuserMode:seuserMode:rModuseruserMode:Mode:e:erMouseruserMode:Mode:deususerMode:erMode::Mode:eususerMode:erMuseuserMode:rMode:ode::dususeruserModeuserMode::ModeuseruserMode:ModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMuserMode:ode:e:e 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userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMode:ususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::ruseuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ModuseruserMode:Mode:e:MouserMode:de:ususeruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:	userMode:	useruseruserMode:Mode:ModeuserMode::rt->useruserMode:Mode:qgususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:oauserMode:luseruseruserMode:Mode:ModeuserMode::[1] 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57.useruserModuserMode:e:Mode:uuserMode:useruserMode:userMode:Mode:useuuserMode:serMode:rMode:serMode:userMode:3userMode:uuserMode:suserMode:eruserMode:ModuserMode:euserModuserMode:e::*rt->duserMode:uususerMode:erMususerMode:erMode:ode:serModuserMode:uuserMode:serModeuserMuserModeuserMode::userMode:ode:useruserModeuserMode::Mode::euserMouseuserMode:rMode:de::q[userMode:1]uuserModeuseuserMode:rMode::serMode:,userususerMode:erMode:MuserMode:oduserMode:e:uuserMode:seruseruseuserMode:rMode:userMode:MouserModeuserMode::de:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMuseuserMode:rMode:serMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:eruseuserMode:rMuserMode:ode:MouuserMode:serMode:de:MouserMode:deususerMode:erMode::useuserMode:rMode:userMode:3*userMode:rt-userMode:Mode:, 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rtuuseuserMode:ruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauusususerMode:erMode:eruserMode:ModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuseruserMode:Mode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:userMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:Mode:euserMode::userMouserMode:de:3],useruserMuserMode:ode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userMuserMode:oduserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:ususerMode:erMode:userMode:e:Mode: userMouserModuserModeuserMode::euserMode::de:userMode:rt-userMode:userMouseruserModeuserMuuserMode:suserMode:erModeuserMode:ruserMode:ususerMouserMode:userMode:de:erMode:ModeuuserModuserMode:e:suserMode:erMode::userMode:uuserModeuserMode::_userMuserMode:uuserMode:serMode:ode:userMode:des[0uuserMode:seruserMode:Mode:], rt-userMouseruserMode:MuserMode:ode:deuseuserMode:Mode:rMode:serModeuseuseruserModeuserMode::Mode:ruserMode:Mode::::,userMode:usususerModeuserMode::erModeuserMode:userMode::eruserMode:ModeuserModeuserMode:::ususerMode:erModuserMode:euuserModeuserMode::seususeruserMode:ModeuserMode::erMode:rModuserMode:euserMode::: 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userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userModeuserMode::uuseruserMode:ususerModeuseruseruserMuserMode:oduserMode:e:MuserMode:ode:Mode::eruserMode:MouserMuseruserMode:Mode:ode:de:userususerMode:erModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMouserMode:de:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::eruserMode:Mode:e:deuserMode:de::(kiuuuserModuserModeuserModuserMode:e::e:seuseuserMode:rMode:rMode:seruuuseruuuserMode:suserMode:erMode:userMode:serModeuserMode::MouserMode:de:userMode:userMode:serModuuseruserMouserMode:de:Mode:seuuserMode:serMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ouserMode:de:ode:lususerMode:euuserMode:serModeuserMuserModuserMode:e:ode::rModuserModuserMode:e:useuserMouserMode:de:rMode:e:l(rt->pidususerMode:erMode:userMouserMode:de:useuserMode:rMode:useuserMode:rMode:userMouserMode:deuserModuserMode:e::userMouserMode:deuserModeuserMode:::userModeuseususerMode:erMode:rMode::userMode:uuserMode:userModeuuserMode:serMode::seuseruserMode:Mode:rMode:useuserMode:rMuserMode:ode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:oduseruserMode:Mode:e:useruserMode:::rt->useruserMode:Mode:uuseuserMususeuserMode:rMode:erMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruseuserMode:rMode:Mode:suseuserMode:userMuserMode:ode:ruserMode:userModuserMode:e:userususerMode:eruserMode:userMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->uuserMode:serMode:useruserMode:ususerModeuserMode::erMode:MouseuserModuserMode:e:rModususerMode:erusuuserMode:seuserMode:rModuseruserMode:Mode:e:erMouseruserMode:Mode:deususerMode:erMode::Mode:eususerMode:erMuseuseruserMode:Mode:rMode:ode::dususeruserModeuserMode::ModeuseruserMode:ModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMuserMode:ode:e:e 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userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseruseruserMode:Mode:ModeuserMode::rMouserMode:de:ususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::ruseuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ModuseruserMode:Mode:e:MouserMode:de:ususeruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:	userMode:	useruseruserMode:Mode:ModeuserMode::rt->useruserMode:Mode:qgususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:oauserMode:luseruseruserMode:Mode:ModeuserMode::[1] 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rtuuseuserMode:ruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauusususerMode:erMode:eruserMode:ModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuseruserMode:Mode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:userMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:Mode:euserMode::userMouserMode:de:3],useruserMuserMode:ode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userMuserMode:oduserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:ususerMode:erMode:userMode:e:Mode: 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rtuuseuserMode:ruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuserMode:userMode:e:->tauusususerMode:erMode:eruserMode:ModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuseruserMode:Mode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:userMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:userMode:Mode:euserMode::userMouserMode:de:3],useruserMuserMode:ode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userMuserMode:oduserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:ususerMode:erMode:userMode:e:Mode: 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57.useruserModuserMode:e:Mode:uuserMode:useruserMode:userMode:Mode:useuuserMode:serMode:rMode:serMode:userMode:3userMode:uuserMode:suserMode:euserMode:ruserMode:ModuserMode:euserModuserMode:e::*rt->duserMode:uususerMode:erMususerMode:erMode:ode:serModuserMode:uuserMode:serModeuserMuserModeuserMode::userMode:ode:useruserModeuserMode::Mode::euserMouseuserMode:rMode:de::q[userMode:1]uuserModeuseuserMode:rMode::serMode:,userususerMode:erMode:MuserMode:oduserMode:e:uuserMode:seruseruseuserMode:rMode:userMode:MouserModeuserMode::de:Mode: userMode:5userMode:7.3*uuserMode:serMode:userMode:userMode:rt->dq[2userModuseruserMuseuserMode:rMode:serMode:rususerMuserMode:ode:eruserMode:Mode:ModuserMode:e:Mode:eruseuserMode:rMuserMode:ode:MouuserMode:serMode:de:MouserMode:deususerMode:erMode::useuserMode:rMode:userMode:3*userMode:rt-userMode:Mode:, 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rtuuseuserMode:ruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuuserMode:serMode:userMode:e:->tauusususerMode:erMode:eruserMode:ModeuserMode::userMode:ususerMode:erMode:seususeruserMode:Mode:erMode:ususerMode:uuseruserMode:Mode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:userMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:userMode:Mode:euserMode::userMouserMode:de:3],useruserMuserMode:ode:uuuserMode:serMuserMode:ode:seruserMouseuserMode:rususerMode:erModeuserMode::userMuserMode:oduserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:ususerMode:erMode:userMode:e:Mode: 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userMouserMode:deususerMode:euserMode:rModeususerMode:erMode:::rt->fususeuserMode:rMode:userModeuserMode::uuseruserMode:ususerModeuseruseruserMuserMode:oduserMode:e:MuserMode:ode:Mode::eruserMode:MouserMuseruserMode:Mode:ode:de:userususerMode:erModuserMode:e:Mode:Mode:seuserMode:userModuserMode:useruserModuserMode:e:MouserMouserMode:de:duserMode:euserMode::e:rMouserModuserMode:userMode:userMode:ususeruserModuserMode:e:ModeuserMode::eruserMode:Mode:e:deuserMode:de::(kiuuuserModuserModeuserModuserMode:e::e:seuseuserMode:rMode:rMode:seruuuseruuuserMode:suserMode:erMode:userMode:serModeuserMode::MouserMode:de:userMode:userMode:serModuuseruserMouserMode:de:Mode:seuuserMode:serMode:rMouuserMode:serMode:de:e:userMode:serMuuseruserMode:Mode:serMode:ode:MuuserMode:serMuserMode:ouserMode:de:ode:lususerMode:euuserMode:serModeuserMuserModuseruserMode:Mode:e:ode::rModuserModuserMode:e:useuserMouserMode:de:rMode:e:l(rt->pidususerMode:erMode:userMouserMode:de:useuserMode:rMode:useuserMode:rMode:userMouserMode:deuserModuserMode:e::userMouserMode:deuserModeuserMode:::userModeuseususerMode:erMode:rMode::userMode:uuserMode:userModeuuserMode:serMode::seuseruserMode:Mode:rMode:useuserMode:rMuseruserMode:Mode:ode:userModeuserMode::ususeuserMode:userMode:rMode:erMode:useruserMode:Mode:userMuserMode:oduseruserMode:Mode:e:useruserMode:::rt->useruserMode:Mode:uuseuserMususeuserMode:rMode:erMode:ode:rMode:serususerMode:de:e:		userMode:rt->uuseruseuserMode:rMode:Mode:suseuserMode:userMuserMode:ode:ruserMode:userModuserMode:e:userususerMode:eruseruserMode:Mode:userMode:Mode:ModeuserMouserMode:de::ModuserMode:euseruserMuseuserMode:rMode:ode:Mode:MouseruserMode:Mode:userMode:de:rt->uuserMode:serMode:useruserMode:ususerModeuserMode::erMode:MouseuserModuserMode:e:rModususerMode:erusuuserMode:seuserMode:rModuseruserMode:Mode:e:erMouseruserMode:Mode:deususerMode:erMode::Mode:eususerMode:erMuseuseruserMode:Mode:rMode:ode::dususeruserModeuserMode::ModeuseruserMode:ModeuserMode:::euserMuserModeuserMode::ode:rMouserMode:duseruserMode:ModeuseruserMode:Mode::userMuserMode:ode:e:e 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userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::ModuseruserMode:Mode:euseuserMode:rMode::ususerMode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::rMouserMode:de:ususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::ruseuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ModuseruserMode:Mode:e:MouserMode:de:ususeruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:	userMode:	useruseruserMode:Mode:ModeuserMode::rt->useruserMode:Mode:qgususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:oauserMode:luseruseruserMode:Mode:ModeuserMode::[1] 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userMuseruuuseruserMode:Mode:serModuseruserModuserModeuserMode::e:Mode:e:serMuserMode:oduserMode:e:Mode:ouserModuserMode:euuserMode:serususerMode:erMode:userMode:MuserMode:ode:userMode::de:useuserMode:ruseuserMode:uuserMode:ususerMuserMode:ode:erMode:suserMode:eruserModeuseruserMode:Mode::ususerMode:eruserModeuseruseuseruserMode:Mode:rMouserMode:de:userMode:Mode::MouserMouserMode:de:deuserMode::userMode:Mode:useuserMode:rMouserMode:de:userModeuseuserMode:rMode::rModeususerMode:erMode::Mode:uuserMode:usususerususerMode:erModeuserMode::Mode:erMouserMode:de::e:userModeuserMode::cuserMode:pp:useuserMouserMode:deuserMode::rMode:	userMode:rt-useuuserMode:serModuserModeuserMode:uuserMode:seuserModeuserMode::ruuserMode:serMode:Mode::e:rMouuserMouserMode:deuserMode::suuserMode:serMode:eruserMode:ModeuserMode::de:ususeuserMode:rMode:euserModeuuuserMode:serMode:serModuserMode:userususerMode:euseuserMode:rMode:rMode:ModeuserMouserMode:de::e:ususerMode:erMode::rMode:userMode:ususeuserMode:rMode:euseuseruserMode:Mode:rMode:ruseuserModuserModeuserMode::e:rususerModeuserMode:ususerMode:eruseruserMode:Mode:Mode::userMode:erMouuserMode:seruseruserMode:MuserMode:useruserMode:ModuseruserMode:ModeuserMode::e:ouserMode:de:MuserMode:odeuseuuserMuserMode:oduserModeuseruserMode:Mode::e:suseruserMode:Mode:erMode:useruserMode:Mode:rMouserMode:deuuserMode:serMode:::useruserMode:Mode:userMode:duserMode:ususeruserMuserMode:oduserModeususerModeuseuserMode:rMode::eruseususerMode:erMode:rMode:MuserMode:ode::e:useuserMode:rMode:Mode:erModeuserModeuserMode:::e:ususerMode:euserModuserMode:e:rMode:ModuseuserMode:ruuserMode:suserMode:erMode:userMode:de:useruserMode:userModeuserModuserMode:e::Mode:userMode:(1userMode:) &userMode:& (userMode:rt->ususeuserModeuserMouserMode:deuserMode:::rMode:erEusuuserModeuserModeuserMode::userModeususeuseuserMode:rMode:rMode:euserMode:ruserMode:userMode:Mode:::serMuserMode:ouserMode:duserMode:euserMode::userModuserMode:e:erMouserMode:userMoususerMode:erMode:de:deuserMode::xit userMode:!=uuserMode:sususeruseususerModeuserMode::erMode:rMouseruserModeuserMode::Mode:de:ModeuseuserMode:rMode::erModeuserModeuserMode::userMode::euserMode:uuserMode:seruserMode:uuserMode:suserMode:eruseuserMode:rMode:ModeuserMode::Mode:ruseruseruserMode:userMode:Mode:MouseuserMode:rModuserMode:e:de:MuseruserMode:Mode: 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uuseruserModeuserMode::Mode:seuserususeuseruserMode:Mode:rMode:erModeuserMode::uuserMode:serMode:ModuserModuserMode:e:e:userModeuserMode::ruserMode:MuserModuseruserMode:Mode:e:useruserMode:useruserMode:Mode:Mode:ouserMode:duserMode:euserMode::ruserMode:tuserMouserMuserModeuseruserMode:Mode::ode:de:-ususeruserMode:Mode:erModeuserMode::>userMode:uususerModeususerMode:erMode::euuuserMode:seuseruserMode:Mode:ruserMode:useuserMode:rMuserMode:ode:MuserMode:ode:serModususeruserModeuserMouserMode:de::Mode:erMouseruserMode:Mode:de:useruseuserMode:rMode:Mode:e:MuserMode:uuserMode:suseuserMode:ususerMode:erMode:rMouserMode:duseuseruserMode:Mode:ruserModeuserModeususerMode:erModeuserMode::::MouseuserMode:rMode:deuserMouserMode:de::e:erModeuseruseruserMode:Mode:Mode::ode::ususerMode:erModeuserMode::Mode)userMode:userMode:anuserMouserMode:deuseruserModeuserModuseruserMode:Mode:e::MouserMode:de::duserMuseruseruserMuserMode:ode:Mode:ModuserMode:e:ouserMode:deuserususerMode:erMuseruserMode:Mode:ode:Mode:ususeuserMode:rMode:euserMode:rModeususerMode:erMode:::(userMode:rt->uuserModususerMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:euseruuserMode:serMode:userMode:MouserMode:de::uuserMode:userMode:suseruserMode:Mode:userModuserMode:e:erModuuserModeuserMode::serModuserModeuserModeuserMode:::euserMode::userModuserMouseruserMode:Mode:de:e:e:.cpp:	ususeruserMouserMode:duserMouserMode:duserMode:e:e:Mode:eruuuserMode:suserMode:erMode:useruserMode:Mode:serMode:Mode:userModeuserMode::		userMuseususerModuseuserMode:rMode:e:erMode:ruserMode:ModeuserMode::ouserMuuseruserMode:Mode:seuserMode:rMode:ode:deuuseruserModeuserMode::MouserMuserMode:ode:duuserMode:seuserMode:rMode:e:useruserModeuseruserMode:Mode::Mode:suserMode:erMouserMode:de:userMode::		userMode:userMode:iuserMode:f(useuserMode:ruseuseuseruserMode:MouseruserMode:Mode:duserMode:e:rususerMode:useuseruserModuserMode:e:ModeuserMode::ruserMode:Mode:erMode:MuserMode:useuserMode:ruseruserMode:Mode:Mode:oduseuserMode:rMode:e:rMouseuserMode:rMode:de:MuuserMode:seruserMode:MuserModeususerMode:euserMode:rModuseruserMode:Mode:userMode:e::ode:odeuserMode:userMouserMode:duserModususerMode:erMode:e:e:ususerModeuserMode::eruserMode:useruseruserMode:Mode:Mode:MuserMode:ouserMouserMouserMode:de:de:de::rt->muuserMode:serMode:uuuserMouserMode:de:serMode:useuserMode:ruuserMode:suseruserMode:Mode:erMode:Mode:e:ModeuserMuserMode:useruseuserMode:rMode:Mode:odeuseuserMode:rMode:::userMode:rMode:euserMode:PauserMuseuseruserMode:Mode:rMode:ode:ramuseuserModuserModuserMode:e:e:rModeuserMode::eters(rt->a0useruserMode:MousususerMode:euuserMode:serModeuuseruserMode:Mode:serModuserMode:e::rMouserMode:deuserMode:userMode::euserMode:rMode:deuserMuuserMuserMode:odeuserMode::suserMouserModeuseruserMode:Mode::de:erModeususerMode:erMuserModeuserMode::ode::ode::,userMode:uuserModuuserMode:serMode:e:serModeuserModuserMouserModuseruserMode:Mode:eususerMode:erMode::duserMode:e:userMode:euserMode:::rt->auseruserMode:Mode:2userMode:,ruuserModeuserMode::seruserModuseruserModeuserMode::Mode:userMode:euserMode:uuseuserMode:rMode:serMususerMode:erMode:ode::MuserMode:ouseruserususerModeuserMode::euususeuserMode:ruserMode:Mode:erMode:suserMode:eruseruserMode:ModuserMode:e:Mode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:userMode:serModuseruserMode:Mode:e:e:de:t->userMouserModuseuserMode:rMode:e:de:userMode:useuseruserModuserMode:e:ModuserMode:euserMode::ruserMode:ModeuseruserMode:Mode::auuserMouseuserMuserMode:ode:rMuserMode:ode:userMode:duserMode:e:serMuserModeuserMouserMode:de::oduseruseuuseuserModuseruseuserMode:rMode:Mode:e:rMode:userMode:serMouserMode:duserMode:e:rMouseruserModuserModuserMode:e:userMode:e:ModeuserMouserMode:de::de:MuuuserMode:ususeruserMode:ModeuserMode::erMode:serMuserMode:ode:seuserMouserMode:de:rMode:ode:e:uuserMode:suserMouserMode:de:erMode:3useuuserMode:serMode:rMouseruseruserMode:Mode:Mode:de:,rtuseruseruseruserModuseruserMode:ModuserModuserMode:e:e:e:Mode:ModuserMode:e:userMouserMode:de:userMode:Mode:ususerMode:euseruserMode:Mode:rMode:-userMouserModeuserMode::de:>tf, 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userMode:rt->uuserMode:serModuserMode:euserMuserMode:oduserMode:e::uuserMode:serMode:tiuserMode:muserMuseruseuserMode:rMode:Mode:odeuseuseruserMode:MuserMode:ode:rMode::userMode::sususerMode:userMode:erModeuserMode::euserModuserModuserMode:e:e:userMode:ruserMode:useuserMuserususerModuserMode:e:erModuserMode:e:ModeuserMode::ouuserMouseruserModuserMode:e:Mode:de:serMode:deususerMode:useruserMode:Mode:erMode::ususeruserMode:ModuserMode:e:euserMode:rMode:rMususerMode:erMode:ouserMode:de:Mode:e:useuserModeuserMode::rMuserMode:ode:uuserMode:serususerMode:erMode:Mode:ruseruserMode:Mode:t->ususerMouserMouserMode:de:de:userMode:er_useuseuuserMode:suserMode:erMuserMode:userModeuserMode::oduseuserModeuserMode::rModeususerMode:erMode::e:rMuserMouseruserMode:useruserMode:Mode:Mode:de:ode:deuserMuserMode:ode::suserMode:erMuserMode:ode:ususususerMode:euseuserModeuserMode::ususerMode:erMode:rMouserMode:de:rMode:euuserMode:suserMode:erMode:rMode:userMouserMode:duseruuserMode:serMode:Mode:e:userMode:erMouseuserMode:ruserMode:Mode:deuseruuserMode:serMode:MouserMode:de::useuserMode:rMode:		//		useruserMode:ModuuserMode:seuserMode:userModeuserMode::ruuserMode:serMode:MouserMode:dususerMode:eruserMode:Mode:e:e:	rtuseruserMode:Mode:->xuuserModuserMode:e:suserMode:erMode:userMode:ususerMode:erMouserMode:de:[1]ususerModeuseuseuserMode:rMode:rMode::eruserMuserMode:ode:MuserMode:odusususerMode:erModeuserMode::userMode:eususeruserMode:Mode:userMode:erMode:rMode:e:, 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uuseruserModeuserMode::Mode:seuserususeuseruserMode:Mode:rMode:erModeuserMode::uuserMode:serMode:ModuserModuserMode:e:e:userModeuserMode::ruserMode:MuserModuseruserMode:Mode:e:useruserMode:useruserMode:Mode:Mode:ouserMode:duserMode:euserMode::ruserMode:tuserMouserMuserModeuseruserMode:Mode::ode:de:-ususeruserMode:Mode:erModeuserMode::>userMode:uususerModeususerMode:erMode::euuuserMode:seuseruserMode:Mode:ruserMode:useuserMode:rMuserMode:ode:MuserMode:ode:serModususeruserModeuserMouserMode:de::Mode:erMouseruserMode:Mode:de:useruseuserMode:rMode:Mode:e:MuserMode:uuserMode:suseuserMode:ususerMode:erMode:rMouserMode:duseuseruserMode:Mode:ruserModeuserModeususerMode:erModeuserMode::::MouseuserMode:rMode:deuserMouserMode:de::e:erModeuseruseruserMode:Mode:Mode::ode::ususerMode:erModeuserMode::Mode)userMode:userMode:anuserMouserMode:deuseruserModeuserModuseruserMode:Mode:e::MouserMode:de::duserMuseruseruserMuserMode:ode:Mode:ModuserMode:e:ouserMode:deuserususerMode:erMuseruserMode:Mode:ode:Mode:ususeuserMode:rMode:euserMode:rModeususerModuserMode:e:erMode:::(userMode:rt->uuserModususerMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:euseruuserMode:serModuserMode:e:userMode:MouserMode:de::uuserMode:userMode:suseruserMode:Mode:userModuserMode:e:erModuuserModeuserMode::serModuserMuserMode:odeuserModeuserMode:::euserMode::userModuserMouseruserMode:Mode:de:e:e:.cpp:	ususeruserMouserMode:duserMouserMode:dususerMode:erMode:e:e:Mode:eruuuserMode:suserMode:erMode:useruserMode:Mode:serMode:Mode:userModeuserMode::		userMuseususerModuseuserMode:rMode:e:erMode:ruserMode:ModeuserMode::ouserMuuseruserMode:Mode:seuserMode:rMode:ode:deuuseruserModeuserMode::MouserMuserMode:ode:duuserMode:seuserMode:rMode:e:useruserModeuseruserMode:Mode::Mode:suserMode:erMouserMode:de:userMode::		userMode:userMode:iuserMode:f(useuserMode:ruseuseuseruserMode:MouseruserMode:Mode:duserMode:e:rususerMode:useuseruserModuserMode:e:ModeuserMode::ruserMode:Mode:erMode:MuserMode:useuserMode:ruseruserMode:Mode:Mode:oduseuserMode:rMode:e:rMouseuserMode:rMode:de:MuuserMode:seruserMode:MuserModeususerMode:euserMode:rModuseruserMode:Mode:userMode:e::ode:odeuserMode:userMouserMode:duserModususerMode:erMode:e:e:ususerModeuserMode::eruserMode:useruseruserMode:Mode:Mode:MuserMode:ouserMouserMouserMode:de:de:de::rt->muuserMode:serMode:uuuserMouserMode:de:serMode:useuserMode:ruuserMode:suseruserMode:Mode:erMode:Mode:e:ModeuserMuserMode:useruseuserMode:rMode:Mode:odeuseuserMode:rMode:::userMode:rMode:euserMode:PauserMuseuseruserMode:Mode:rMode:ode:ramuseuserModuserModuserMode:e:e:rModeuserMode::eters(rt->a0useruserMode:MousususerMode:euuserMode:serModeuuseruserMode:Mode:serModuserMode:e::rMouserMode:deuserMode:userMode::euserMode:rMode:deuserMuuserMuserMode:odeuserMode::suserMouserModeuseruserMode:Mode::de:erModeususerMode:erMuserModeuserMode::ode::ode::,userMode:uuserModuuserMode:serMode:e:serModeuserModuserMouserModuseruserMode:Mode:eususerMode:erMode::duserMode:e:userMode:euserMode:::rt->auseruserMode:Mode:2userMode:,ruuserModeuserMode::seruserModuseruserModeuserMode::Mode:userMode:euserMode:uuseususerMode:erMode:rMode:serMususerMode:erMode:ode::MuserMode:ouseruserususerModeuserMode::euususeuserMode:ruserMode:Mode:erMode:suserModeuserMode::eruseruserMode:ModuserMode:e:Mode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:userMode:serModuseruserMode:Mode:e:e:de:userMode:t->userMouserModuseuserMode:rMode:e:de:userMode:useuseruserModuserMode:e:ModuserMode:euserMode::ruserMode:ModeuseruserMode:ModuserMode:e::auuserMouseuserMuserMode:ode:rMuserMode:ode:userMode:duserMode:e:serMuserModeuserMouserMode:de::oduseruseuuseuserModuseruseuserMode:rMode:Mode:e:rMode:userMode:serMouserMode:duserMode:e:rMouseruserModuserModuserMode:e:userMode:e:ModeuserMouserMode:de::de:MuuuserMode:ususeruserMode:ModeuserMode::erMode:serMuserMode:ode:seuserMouserMode:de:rMode:ode:e:uuserMode:suserMouserMode:de:erMode:3useuuserMode:serMode:rMouseruseruserMode:Mode:Mode:de:,rtuseruseruseruserModuseruserMode:ModuserModuserMode:e:e:e:Mode:ModuserMode:e:userMouserMode:de:userMode:Mode:ususerMode:euseruserMode:Mode:rMode:-userMouserModeuserMode::de:>tf, 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rtuuseuserMode:ruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuuserMode:serMode:userMode:e:->tauusususerMode:erMode:eruserMode:ModeuserMode::userMode:ususerMode:erModuserMode:e:seususeruserMode:Mode:erMode:ususerMode:uuseruserMode:Mode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:userMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:userMode:Mode:euserMode::userMouserMode:de:3],useruserMuserMode:ode:uuuserMode:serMuserMode:oduserMode:e:seruserMouseuserMode:rususerMode:erModeuserMode::userMuserMode:oduserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:ususerMode:erMode:userMode:e:Mode: 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userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:userMode:rt->quseruserMode:Mode:guseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::oususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:euseuserMode:ruserModeuserMode::ModeuseruserMode:Mode:::ususerMode:erMode:ususerMode:euseruseruserMode:Mode:ModeuserMode::ruseruseuserMode:rModeuseruserMode:Mode::ModuserMode:euserModeuserMode:::ModuseruserMode:Mode:e:ususerMode:erModeuseuserMode:ruseruseruserMode:Mode:ModeuserMode::Mode::ususerMode:eruseuseruserMode:Mode:rModuserMode:euserModeuserMode:::MouserMode:duseruseruserMode:Mode:ModeuserMode::euseuseruserMode:Mode:rModuserMode:e::ususeruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::rMouserMode:de:ususeruserMode:Mode:erususerMode:euseruseruserMode:Mode:ModeuserMode::ruseuseruserMode:Mode:ruseuserMode:rModeuseruserMode:Mode::ModuserMode:euseruseruserMode:Mode:ModeuserMode:::ModuseruserMode:Mode:e:MouserMode:de:ususeruserMode:Mode:euseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e::MouseruserMode:Mode:de:	userMode:	useruseruserMode:Mode:ModeuserMode::rt->useruserMode:Mode:qgususerMode:eruseuseruserMode:Mode:ruseuserMode:ruseruseruserMode:Mode:ModeuserMode::ModeuseruserMode:Mode::ModuserMode:e:ModuseruserMode:Mode:e:oauserMode:luseruseruserMode:Mode:ModeuserMode::[1] 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rt->q[uuserMode:ususerMode:erModeususeuserMode:ruserMode:Mode:eruseruserModeuseuserMode:rMode::Mode:MuserMode:ode::seruserModuseruserMode:Mode:euserModuserMode:e:ususerMode:eruserMouseuserMode:ruserMode:ModuseruserMode:ModeuseruserMode:Mode::e:duserMode:euserMouserMode:de::userMode:MoususeuserMode:ruseruserMode:Mode:Mode:eruseruuserMode:serMode:Mode:Mode:de::MuserMode:ode:iususeruseuserMode:ruseruseuserMode:rMode:Mode:Mode:Mode:eruserMode:userMoususeruserMode:MouserModeuserMode::de:erModeuuseruserModeuserMode::Mode:serususerMode:erModuserMouserMode:duserMode:e:e:ModeuseruuserMode:seruseuseruserMode:Mode:rMode:MuserMode:ode:ModuseuserMode:rModuserMode:e:e:::de:ModuseruserModeuseruseuserMode:rMode:Mode::Mode:e:useruserMode:Mode:useuseruserModeuserMode::MuserMode:ode:rMuserMuseruserModeuserMode::ModeuserMode::ode:odeuseuserMouserMode:de:ruuseruseruseuserModuserMode:e:ruseuseruseruserMode:Mode:ModuserMode:e:rMode:Mode:Mode:Mode:userMode:serModeuserMode::ModuseuserModeuserMode::ruseruserMode:Mode:ModuserMode:e:e::useuseruserMode:Mode:rMoususerMode:euserMode:userMode:ruseuserMode:ruserMode:Mode:MuseruserMode:MouserMode:de:ode:de:userMode:usuuuserMode:seruserMode:ModuseruserMode:ModuserMode:e:e:suseruserMode:MuseruserMode:Mode:oduseruserMode:Mode:e:erMouserMode:deuseruserMode:Mode:usuuserMode:serususerMode:erMode:Mode:eruseuserMode:rMode:Mode::useruseruseuserMode:ruserMode:ModeuserMode::Mode:MouserMode:de:erModuserMuseruserMouserMode:de:Mode:ode:e:uuseruseruserModeuserMode::Mode:Mode:seruseruseuseruserModuserMode:e:Mode:rMode:ModeuseruuserMode:suserMode:euseruserMode:Mode:rMode:Mode::userMode::rt->q[i])useuserMode:useuseruseuserMode:rMode:ModeuseruserMode:Mode::rMuserMode:odeuuserMode:serMuseruserMode:MouserMode:de:oduserMode:e::rMuseruserModeuseruserMode:Mode::Mode:uuseruserMode:ModuserMode:e:serModuseruseruserMode:MuserMode:oduseuserMode:ruserMode:Mode:e:Mode:euserMode::odeuserModuserususerMode:erMode:Mode:e:userMode::/(rtuuseruserMode:ModeuserMode::seuseruuserMode:serMode:Mode:ruserMuseruserMode:Mode:oduseruseruseruseruserModeuserMode::Mode:Mode:Mode:Mode:userMode:euuserMode:seruserMode:Mode:useususerMode:uuserMode:suseruserMode:Mode:erMode:erMususerMode:eruserMode:MouserMode:de:ode:rMouserMode:de:useruserModuserMode:e:ModuseuserMode:rModuserMode:e:e::userMode:MuseruserMode:MouseruserMode:Mode:de:userModeuseruserMode:Mode::ode:->tuseruseuserModeuseuserMode:rMode::rMode:Mode:f[useuserMode:userMode:useususerMode:euserMode:ruserMouserMode:de:ModuserMode:e:rMode:rMuserModuserMode:e:ususeruserMouserMode:de:Mode:userMode:eruserMode:ModeuserMode:userModeuserMode:::ouseruserMode:ModeuseuserModeuserMode::rMode::deuserModeususeruserModeuserMode::Mode:eruserMode:Mode:::i]*rt->userMode:tuserMode:useuseruseruseruserModuserMode:euserMode::ModeuserMode::Mode:MuserMode:ode:ruseruuserMode:seruserMode:MuserMode:ode:Mode:MuserMode:odeususerMususerMode:eruserMode:Mode:oususerMode:erususerMode:erMode:Mode:de:erMouserMode:de:userMode:useruserMode:Mode::fuserModeuseruserMode:Mode::uuseruserMode:ModuserModuuserMode:seruseuserMode:rMode:Mode:e:e:seuserMode:rMouuuserMode:suserMode:eruserMuserMode:ode:ModuserMode:e:serMouuserModeuserMode::serMode:dusususerMode:eruserMouserMode:deuserMode::Mode:erMode:e:duseruuserMode:seuserModeuserMode::rMouserModeuserMode::de:Mode:e:useususeruserMode:ModuserMode:e:euseruserMode:Mode:rMode:ruseuserMode:ruserMode:Mode:MuserMode:oduseruuserMode:serModuserMode:e:Mode:e:userModuserMode:euseruseususerMode:eruseuserModeuserMode::rMode:ModeuserMode::rMouserModuserMode:e:de:ModeuseruserMouserMode:de:MuserMode:ode:::useruserMode:useruserModuuserMode:seruseruseruserMode:Mode:ModuseruserMode:Mode:e:Mode:euserMode:userususeuserMode:rMode:erMode:Mode::ModususerMuseuserMode:rModeuserMode::ode:euserMode:ruuserMode:seruserMode:ModuserMode:e:ModeususerMode:useruseruserMouserMode:duserModuserMode:e:e:Mode:Mode:- 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userMuseruuuseruserMode:Mode:serModuseruserModuserModeuserMode::e:Mode:e:serMuserMode:oduserMode:e:Mode:ouserModuserMode:euuserMode:serususerMode:erMode:userMode:MuserMode:ode:userMode::de:useuserMode:ruseuserMode:uuserMode:ususerMuserMode:ode:erMode:suserMode:eruserModeuseruserMode:Mode::ususerMode:eruserModeuseruseuseruserMode:Mode:rMouserMode:de:userMode:Mode::MouserMouserMode:de:deuserMode::userMode:Mode:useuserMode:rMouserMode:de:userModeuseuserMode:rMode::rModeususerMode:erMode::Mode:uuserMode:usususerususerMode:erModeuserMode::Mode:erMouserMode:de::e:userModeuserMode::cuserMode:pp:useuserMouserMode:deuserMode::rMode:	userMode:rt-useuuserMode:serModuserModeuserMode:uuserMode:seuserModeuserMode::ruuserMode:serMode:Mode::e:rMouuserMouserMode:deuserMode::suuserMode:serMode:eruserMode:ModeuserMode::de:ususeuserMode:rMode:euserModeuuuserMode:serMode:serModuserMode:userususerMode:euseuserMode:rMode:rMode:ModeuserMouserMode:de::e:ususerMode:erMode::rMode:userMode:ususeuserMode:rMode:euseuseruserMode:Mode:rMuserMode:ode:ruseuserModuserModeuserMode::e:rususerModeuserMode:ususerMode:eruseruserMode:Mode:Mode::userModuserMode:e:erMouuserMode:seruseruserMode:MuserMode:useruserMode:ModuseruserMode:ModeuserMode::e:ouserMode:deuserMode::MuserMode:odeuseuuserMuserMode:oduserModeuseruserMode:Mode::e:suseruserMode:Mode:erMode:useruserMouserMode:de:Mode:rMouserMode:deuuserMode:serMode:::useruserMode:Mode:userMode:duserMode:ususeruserMuserMode:userMode:oduserModeususerModeuseuserMode:rMode::eruseususerMode:erMode:rMode:MuserMode:ode::e:useuserMode:rMuserMode:ode:Mode:erModeuserModeuserMode:::e:ususerMode:euserModuserMode:e:rMode:ModuseuserMode:ruuserMode:suserMode:erMode:userMode:de:useruserMode:userModeuserModuserMode:e::Mode:userMode:(1userMode:) 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uuseruserModeuserMode::Mode:seuserususeuseruserMode:Mode:rMode:erModeuserMode::uuserMode:serMode:ModuserModuserMode:e:e:userModeuserMode::ruserMode:MuserModuseruserMode:Mode:e:useruserMode:useruserMode:Mode:Mode:ouserMode:duserMode:euserMode::ruserMode:tuserMouserMuserModeuseruserMode:Mode::ode:de:-ususeruserMode:Mode:erModeuserMode::>userMode:uususerModeususerMode:erMode::euuuserMode:seuseruserMode:Mode:ruserMode:useuserMode:rMuserMode:ode:MuserMode:ode:serModususeruserModeuserMouserMode:de::Mode:erMouseruserMode:Mode:de:useruseuserMode:rMode:Mode:e:MuserMode:uuserMode:suseuserMode:ususerMode:erMode:rMouserMode:duseuseruserMode:Mode:ruserModeuserModeususerMode:erModeuserMode::::MouseuserMode:rMode:deuserMouserMode:de::e:erModeuseruseruserMode:Mode:Mode::ode::ususerMode:erModeuserMode::Mode)userMode:uuserMode:serMode:anuserMouserMode:deuseruserModeuserModuseruserMode:Mode:e::MouserMode:de::duserMuseruseruserMuserMode:ode:ModuserMode:e:ModuserMode:e:ouserMode:deuserususerMode:erMuseruserMode:Mode:ode:Mode:ususeuserMode:rMode:euserMode:rModeususerModuserMode:e:erMode:::(userMode:rt->uuserModususerMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:euseruuserMode:serModuserMode:e:userMode:MouserMode:de::uuserMode:userMode:suseruserMode:Mode:userModuserMode:e:erModuuserModeuserMode::serModuserMuserMode:odeuserModeuserMode:::euserMode::userModuserMouseruserMode:Mode:de:e:e:.cpp:	ususeruserMouserMode:duserMouserMode:dususerMode:erMode:e:e:Mode:eruuuserMode:suserMode:erMode:useruserMode:Mode:serMode:Mode:userModeuserMode::		userMuseususerModuseuserMode:rMode:e:erMode:ruserMode:ModeuserMode::ouserMuuseruserMode:Mode:seuserMode:rMode:ode:deuuseruserModeuserMode::MouserMuserMode:ode:duuserMode:seuserMode:rMode:e:useruserModeuseruserMode:Mode::Mode:suserMode:erMouserMode:de:userMode::		userMode:userMode:iuserMode:f(useuserMode:ruseuseuseruserMode:MouseruserMode:Mode:duserMode:e:rususerMode:useuseruserModuserMode:e:ModeuserMode::ruserMode:Mode:erMode:MuserMode:useuserMode:ruseruserMode:Mode:Mode:oduseuserMode:rMode:e:rMouseuserMode:rMode:de:MuuserMode:seruserMode:MuserModeususerMode:euserMode:rModuseruserMode:Mode:userMode:e::ode:odeuserMode:userMouserMode:duserModususerMode:erMode:e:e:ususerModeuserMode::eruserMode:useruseruserMode:Mode:Mode:MuserMode:ouserMouserMouserMode:de:de:de::rt->muuserMode:serMode:uuuserMouserMode:de:serMode:useuserMode:ruuserMode:suseruserMode:Mode:erMode:Mode:e:ModeuserMuserMode:useruseuserMode:rMode:Mode:odeuseuserMode:rMode:::userMode:rMode:euserMode:PauserMuseuseruserMode:Mode:rMode:ode:ramuseuserModuserModuserMode:e:e:rModeuserMode::eters(rt->a0useruserMode:MousususerMode:euuserMode:serModeuuseruserMode:Mode:serModuserMode:e::rMouserMode:deuserMode:userMode::euserMode:rMode:deuserMuuserMuserMode:odeuserMode::suserMouserModeuseruserMode:Mode::de:erModeususerMode:erMuserModeuserMode::ode::ode::userMode:,userMode:uuserModuuserMode:serMode:e:serModeuserModuserMouserModuseruserMode:Mode:eususerMode:erMode::duserMode:e:userMode:euuserMode:serMode:::rt->auseruserMode:Mode:2userMode:,ruuserModeuserMode::seruserModuseruserModeuserMode::Mode:userMode:euserMode:uuseususerMode:erMode:rMode:serMususerMode:erMode:ode::MuserMode:ouseruserususerModeuserMode::euususeuserMode:ruserMode:Mode:erMode:suserModeuserMode::eruseruserMode:ModuserMode:e:Mode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:userMode:serModuseruserMode:Mode:e:e:de:userMode:t->userMouserModuseuserMode:rMode:e:de:userMode:useuseruserModuserMode:e:ModuserMode:euserMode::ruserMode:ModeuseruserMode:ModuserMode:e::auuserMouseuserMuserMode:ode:rMuserMode:ode:userMode:duserMode:e:serMuserModeuserMouserMode:de::oduseruseuuseuserModuseruseuserMode:rMode:Mode:e:rMode:userMode:serMouserMode:duserMode:e:rMouseruserModuserModuserMode:e:userMode:e:ModeuserMouserMode:de::de:MuuuserMode:ususeruserMode:ModeuserMode::erMode:serMuserMode:ode:seuserMouserMode:de:rMode:ode:e:uuserMode:suserMouserMode:de:erMode:3useuuserMode:serMode:rMouseruseruserMode:Mode:Mode:de:,rtuseruseruseruserModuseruserMode:ModuserModuserMode:e:e:e:Mode:ModuserMode:e:userMouserMode:de:userMode:Mode:ususerMode:euseruserMode:Mode:rMode:-userMouserModeuserMode::de:>tf, userMode:userModeuseuserMode:rMode::rt->userMode:userMode:uuuuserModuserMode:e:serModeuuseruserMode:Mode:serModuserMode:e::serMouserModuserMode:e:de:userModuserususerMode:euususerMode:erMode:serModuserMouserMode:de:e:rMode:userModeuseruserMode:Mode::Mode:uuserModeuserMouserMode:de::serMode:e:userMode:suserModuserMode:e:erModususeruseuseuserMode:rMode:userModuserModeuserModuseruserMode:Mode:euserMode:::userMode:e:rMode:MoususerMode:erMode:de:userMode:userMode:userMode:euserMode:userMode:rMuseruserMode:ModeuserMode:useruserMode:Mode::oduserMode:e:e:usuuserMode:suserMode:euseuuserMode:serMode:rMode:ruseruserMode:Mode:MuserModeuseuserMode:rMode::userMode:odeuuseruserModeuserMode::Mode:serMode::erMuserModuserMouserMode:de:userMuseususeruserMuserMode:ode:MouserMode:de:erMode:rMouserMode:de:ModuuserMode:serMuseruseuserMode:ruserMode:Mode:Mode:Mode:ModuseuserMode:rModuserMode:e:euuserMuserMode:ode:seuserMode:userMode:rMode:::userMode:	rt->q[iuserMouserMode:userMode:deuseruseruserMode:Mode:ruserMouserMode:de:Mode:rMode:e:userMouserMode:deuserMode::userMususerMuserMode:odeuserMode::eruserMode:Mode:oduserMode:e:rt-userModeuserMouserMode:de:userMode:eruserModeuserMode::ususerMode:erMode:MuuseuserMode:ruseuserModeuserMode::rMode:Mode:seuserModeuserMode::rMode:ode:de:", 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rtuuseuserMode:ruserMode:Mode:serMouserMode:userMode:deuserMode::uususerModuserMode:e:erModuserMode:e:seruserMode:ModuuserMode:serMode:userMode:e:->tauusususerMode:erMode:eruserMode:ModeuserMode::userMode:ususerMode:erModuserMode:e:seususeruserMode:Mode:erMode:ususerMode:uuseruserMode:Mode:suserMode:eruserMode:Mode:erMode:useruserMode:Mode:rMode:userMode:u[userMode:userMouserModeuuserMode:serMode::useususerMode:erMouserMode:de:rMode:duserususerMode:erMode:userMode:Mode:euserMode::userMouserMode:de:3],useruserMuserMode:ode:uuuserMode:serMuserMode:oduserMode:e:seruserMouseuserMode:rususerMode:erModeuserMode::userMuserMode:oduserMode:e:MuserMouserMode:de:ode:de:ModuseruserMode:Mode:ususerMode:erMode:userMode:e:Mode: 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rt->q[uuserMode:ususerMode:erModeususeuserMode:ruserMode:Mode:eruseruserModeuseuserMode:rMode::Mode:MuserMode:ode::seruserModuseruserMode:ModuserMode:e:euserModuserMode:e:ususerMode:eruserMouseuserMode:ruserMode:MuserMode:oduseruserMode:ModeuseruserMode:Mode::e:duserMode:euserMouserMouserMode:de:de::userMode:MoususeuserMode:ruseruserMode:Mode:Mode:eruseruuserMode:serMode:Mode:Mode:de::MuserMode:ode:iususeruseuserMode:ruseruseuserMode:rMode:Mode:Mode:Mode:eruserMode:userMoususeruserMode:MouserModeuserMode::de:erModeuuseruserModeuserMode::Mode:serususerMode:erModuserMouserMode:duserMode:e:e:ModeuseruuserMode:seruseuseruserMode:Mode:rMode:MuserMode:ode:ModuseuserMode:rModuserMode:e:e:::de:ModuseruserModeuseruseuserMode:rMode:Mode::Mode:e:useruserMode:Mode:useuseruserModeuserMode::MuserMode:ode:rMuserMuseruserModeuserMode::ModeuserMode::ode:odeuseuserMouserMode:de:ruuseruseruseuserModuserMode:e:ruseuseruseruserMode:Mode:ModuserMode:e:rMode:Mode:Mode:Mode:userMode:serModeuserMode::ModuseuserModeuserMode::ruseruserMode:Mode:ModuserMode:e:e::useuseruserMode:Mode:rMoususerMode:euserMode:userMode:ruseuserMode:ruserMode:Mode:MuseruserMode:MouserMode:de:ode:de:userMode:usuuuserMode:seruserMode:ModuseruserMode:ModuserMode:e:e:suseruserMode:MuseruserMode:Mode:oduseruserMode:Mode:e:erMouserMode:deuseruserMode:Mode:usuuserMode:serususerMode:erMode:Mode:eruseuserMode:rMode:Mode::useruseruseuserMode:ruserMode:ModeuserMode::Mode:MouserMode:de:erModuserMuseruserMouserMode:de:Mode:ode:e:uuseruseruserModeuserMode::Mode:Mode:seruseruseuseruserModuserMode:e:Mode:rMode:ModeuseruuserMode:suserMode:euseruserMode:Mode:rMode:Mode::userMode::rt->q[i])useuserMode:useuseruseuserMode:rMode:ModeuseruserMode:Mode::rMuserMode:odeuuserMode:serMuseruserMode:MouserMode:de:oduserMode:e::rMuseruserModeuseruserMode:Mode::Mode:uuseruserMode:ModuserMode:e:serModuseruseruserMode:MuserMode:oduseuserMode:ruserMode:Mode:e:Mode:euserMode::odeuserModuserususerMode:erMode:Mode:e:userMode::/(rtuuseruserMode:ModeuserMode::seuseruuserMode:serMode:Mode:ruserMuseruserMode:Mode:oduseruseruseruseruserModeuserMode::Mode:Mode:Mode:Mode:userMode:euuserMode:seruserMode:Mode:useususerMode:uuserMode:suseruserMode:Mode:eruserMode:Mode:erMususerMode:eruserMode:MouserMode:de:ode:rMouserMode:de:useruserMuserMode:oduserMode:e:ModuseuserMode:rModuserMode:e:e::userMode:MuseruserMode:MouuserMode:seruserMode:Mode:de:userModeuseruserMode:Mode::ode:->tuseruseuserModeuseuserMode:rMode::rMode:Mode:f[useuserMode:userMode:useususerMode:euserMode:ruserMouserMode:de:ModuserMode:e:rMode:rMuserModuserMode:e:ususeruserMouserMode:de:Mode:userMode:eruserMode:ModeuserMode:userModeuserMode:::ouseruserMode:ModeuseuserModeuserMode::rMode::deuserModeususeruserModeuserMode::Mode:eruserMode:Mode:::i]*rt->userMode:tuserMode:useuseruseruseruserModuserMode:euserMode::ModeuserMode::Mode:MuserMode:ode:ruseruuserMode:seruserMode:MuserMode:ode:Mode:MuserMode:odeususerMususerMode:eruserMode:Mode:oususerMode:erususerMode:erMode:Mode:de:erMouserMode:de:userMode:useruserMode:Mode::fuserModeuseruserMode:Mode::uuseruserMode:ModuserModuuserMode:seruseuserMode:rMode:Mode:e:e:seuserMode:rMouuuserMode:suserMode:eruserMuserMode:ode:ModuserMode:e:serMouuserModeuserMode::serMode:dusususerMode:eruserMouserMode:deuserMode::Mode:erMode:e:duseruuserMode:seuserModeuserMode::rMouserModeuserMode::de:Mode:e:useususeruserMode:ModuserMode:e:euseruserMode:Mode:rMode:ruseuserMode:ruserMode:Mode:MuserMode:oduseruuserMode:serModuserMode:e:Mode:e:userModuserMode:euseruseususerMode:eruseuserModeuserMode::rMode:ModeuserMode::rMouserModuserMode:e:de:ModeuseruserMouserMode:de:MuserMode:ode:::useruserMode:useruserModuuserMode:seruseruseruserMode:Mode:ModuseruserMode:Mode:e:Mode:euserMode:userususeuserMode:rMode:erMode:Mode::ModususerMuseuserMode:rModeuserMode::ode:euserMode:ruuserMode:seruserMode:ModuserMode:e:ModeususerMode:useruseruserMouserMode:duserModuserMode:e:e:Mode:Mode:- 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&userMode:& (userMode:rt->ususeuserModeuserMouserMode:deuserMode:::rMode:erEusuuserModeuserModeuserMode::userModeususeuseuserMode:rMode:rMode:euserMode:ruserMode:userMode:Mode:::serMuserMode:ouserMode:duserMode:euserMode::userModuserMode:e:erMouserMode:userMoususerMode:erMode:de:deuserMode::xit userMode:!=uuserMode:sususeruseususerModeuserMode::erMode:rMouseruserModeuserMode::Mode:de:ModeuseuserMode:rMode::erModeuserModeuserMode::userMode::euserMode:uuserMode:seruserMode:uuserMode:suserMode:eruseuserMode:rMode:ModeuserMode::Mode:ruseruseruserMode:userMode:Mode:MouseuserMode:rModuserMode:e:de:MuseruserMode:Mode: rt-userMuserMode:oduseruseruserMode:Mode:MuserMode:ode:e:userModeuseususeruserMode:Mode:erModeuserModeuserMode:::ruserMode:MuseruserMouserMode:de:ModeuserMode::oduserMode:userMuserMouserMode:de:oduserMode:e:euserMode:ususerMode:uuserMode:serMode:erMode:::uususerMode:ususerMode:erMode:erMususerMode:erMode:ode:seruserMode:useruseuserModuserMode:e:rMode:MouserMode:deuseruserMode:Mode::ModuserMode:e:useususeuserMode:rMode:erMouserMouserModuserMode:e:de:de:userMouserMode:de:ruuserMouuseruserMode:Mode:serModeuserMode::de:seuuserMode:serMouseruserMouserMode:deuserMouserMode:deuserMode:::MuserMode:odeuseruserMode:Mode::de:rMode:MouseuseuserMuserMode:oduserMode:euserMode::rMode:ruseruserModeuserMode::Mode:Mode:de:useuseruserMode:Mode:rMode:userususerMode:euuserMode:serMode:ruserMode:MouserMode:de:Mode:uususerModeususerMode:euserModuseruserMode:Mode:e:rModuserMode:e::erModuserMode:euserMode::suseruserMode:Mode:useruuseuserMode:rMode:serModuserModeuseruserMode:Mode::useruserMouseruserModeuserMode::Mode:de:ModeuserModeuserMode:::euserMode::userMode:ModuuserMode:seuseruserMode:Mode:ruserMode:Mode:e:eruusuuserMode:suserMode:erModuserMode:e:erMode:seruserMuseruseruserModeuserMode::useruserMode:Mode:ModuseruseuserMode:rModuserMode:e:Mode:e:MuserMode:ode:ode:ModeususerMode:erMouserModuserMode:e:de:useruserMode:Mode::Mode:useuseruseusuuseruserMode:Mode:serModuserModeuserMode::euseruserMode:Mode::euuserMode:seruseruseruserMode:Mode:Mode:Mode:Mode:MuserMouuserMode:serMouserMode:de:de:odeuserMuserMode:ouserMode:de::userModuseuserMouseruserMode:Mode:deuserMode::rModeuserMouserMode:de::e:rt->usususerMode:erususerMode:euserMode:useruseuseuserMode:rMuseruserMode:Mode:ode:rMode:Mode:rModeuseuserMode:rMode:uuserMode:serModuuserMode:serModeuserModuserMode:e::e::Mode:euseruserMode:Mode:rEuuseruserMode:Mode:seuserModeuuserMode:serModuserMode:e::rModuuserMode:seuserMode:rMouserMode:useuseruserMode:Mode:ruserModeuserModeuserModeuserMode::::ModeuserMode::de:e:n", uuseruserModeuserMode::Mode:seuserususeuseruserMode:Mode:rMode:erModeuserMode::uuserMode:serMode:ModuserModuserMode:e:e:userModeuserMode::ruserMode:MuserModuseruserMode:Mode:e:useruserMode:useruserMode:Mode:Mode:ouserMode:duserMode:euserMode::ruserMode:tuserMouserMuserModeuseruserMode:Mode::ode:de:-ususeruserMode:Mode:erModeuserMode::>userMode:uususerModeususerMode:erMode::euuuserMode:seuseruserMode:Mode:ruserMode:useuserMode:rMuserMode:ode:MuserMode:ode:seuserMode:rModususeruserModeuserMouserMode:de::Mode:erMouseruserMode:Mode:de:useruseuserMode:rMode:Mode:e:MuserMode:uuserMode:suserMode:useuserMode:ususerMode:erMode:rMouserMode:duseuseruserMode:Mode:ruserModeuserModeususerMode:erModeuserMode::::MouseususerMode:erMode:rMode:deuserMouserMode:de::e:erModeuseruseruserMode:Mode:Mode::ode::ususerMode:erModeuserMode::Mode)userMode:uuserMode:serMode:anuserMouserMode:deuseruserModeuserModuseruserMode:Mode:e::MouserMode:de::duserMuseruseruserMuserMode:ode:ModuserMode:e:ModuserMode:e:ouserMode:deuserususerMode:erMuseruserMode:Mode:ode:Mode:ususeuserMode:rMode:euserMode:rModeususerModuserMode:e:erMode:::(userMode:rt->uuserModususerMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:euseruuserMode:serModuserMode:e:userMode:MouserMode:de::uuserMode:userMode:suseruserMode:Mode:userModuserMode:e:erModuuserModeuserMode::serModuserMuserMode:odeuserModeuserMode:::euserMode::userModuserMouseruserMode:Mode:de:e:e:.cpp:	ususeruserMouserMode:duserMouserMode:dususerMode:erMode:e:e:Mode:eruuuserMode:suserMode:erMode:useruserMode:Mode:serMode:Mode:userModeuserMode::		userMuseususerModuseuserMode:rMode:e:erMode:ruserMode:ModeuserMode::ouserMuuseruserMode:Mode:seuserMode:rMode:ode:deuuseruserModeuserMode::MouserMuserMode:ode:duuserMode:seuserMode:rMode:e:useruserModeuseruserMode:Mode::Mode:suserMode:erMouserMode:de:userMode::		userMode:userMode:iuserMode:f(useuserMode:ruseuseuseruserMode:MouseruserMode:Mode:duserMode:e:rususerMode:useuseruserModuserMode:e:ModeuserMode::ruserMode:Mode:erMode:MuserMode:useuserMode:ruseruserMode:Mode:Mode:oduseuserMode:rMode:e:rMouseuserMode:rMode:de:MuuserMode:seruserMode:MuserModeususerMode:euserMode:rModuseruserMode:Mode:userMode:e::ode:odeuserMode:userMouserMode:duserModususerMode:erMode:e:e:ususerModeuserMode::eruserMode:useruseruserMode:Mode:Mode:MuserMode:ouserMouserMouserMode:de:de:de::rt->muuserMode:serMode:uuuserMouserMode:de:serMode:useuserMode:ruuserMode:suseruserMode:Mode:erMode:Mode:e:ModeuserMuserMode:useruseuserMode:rMode:Mode:odeuseuserMode:rModeuserMode::::userMode:rMode:euserMode:PauserMuseuseruserMode:Mode:rMode:ode:ramuseuserModuserModuserMode:e:e:rModeuserMode::eters(rt->a0userMode:useruserMode:MousususerMode:euuserMode:serModeuuseruserMode:Mode:serModuserMode:e::rMouserMode:deuserMode:userMode::euserMode:userMode:rMode:deuserMuuserMuserMode:odeuserMode::suserMouserModeuseruserMode:Mode::de:erModeususerMode:erMuserModeuserMode::ode::ode::userMode:,userMode:uuserModuuserMode:serMode:e:serModeuserModuserMouserModuseruserMode:Mode:eususerMode:erMode::duserMode:e:userMode:euuserMode:serMode:::rt->auseruserMode:Mode:2userMode:,ruuserModeuserMode::seruserModuseruserModeuserMode::Mode:userMode:euserMode:uuseususerMode:erMode:rMode:serMususerMode:erMode:ode::MuserMode:ouseruserususerModeuserMode::euususeuserMode:ruserMode:Mode:erMode:suserModeuserMode::eruseruserMode:ModuserMode:e:Mode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:userMode:serModuseruserMode:Mode:e:e:de:userMode:t->userMouserModuseuserMode:rMode:e:de:userMode:useuseruserModuserMode:e:ModuserMode:euserMode::ruserMode:ModeuseruserMode:ModuserMode:e::auuserMouseuserMuserMode:ode:rMuserMode:ode:userMode:duserMode:e:serMuserModeuserMouserMode:de::oduseruseuuseuserModuseruseuserMode:rMode:Mode:e:rMode:userMode:serMouserMode:duserMode:e:rMouseruserModuserModuserMode:e:userMode:e:ModeuserMouserMode:de::de:MuuuserMode:ususeruserMode:ModeuserMode::erMode:serMuserMode:ode:seuserMouserMode:de:rMode:ode:e:uuserMode:suserMouserMode:de:erMode:3useuuserMode:serMode:rMouseruseruserMode:Mode:Mode:de:,rtuseruseruseruserModuseruserMode:ModuserModuserMode:e:e:e:Mode:ModuserMode:e:userMouserMode:de:userMode:Mode:ususerMode:euseruserMode:Mode:rMode:-userMouserModeuserMode::de:>tf, 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&userMode:& (userMode:rt->ususeuserModeuserMouserMode:deuserMode:::rMode:erEusuuserModeuserModeuserMode::userModeususeuseuserMode:rMode:rMode:euserMode:ruserMode:userMode:Mode:::serMuserMode:ouserMode:duserMode:euserMode::userModuserMode:e:erMouserMode:userMoususerMode:erMode:de:deuserMode::xit userMode:!=uuserMode:sususeruseususerModeuserMode::erMode:rMouseruserModeuserMode::Mode:de:ModeuseuserMode:rMode::erModeuserModeuserMode::userMode::euserMode:uuserMode:seruserMode:uuserMode:suserMode:eruseuserMode:rMode:ModeuserMode::Mode:ruseruseruserMode:userMode:Mode:MouseuserMode:rMouserMode:duserMode:e:de:MuseruserMode:Mode: 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uuseruserModeuserModuserMode:e::Mode:seuserususeuseruserMode:Mode:rMode:erModeuserMode::uuserMode:serMode:ModuserModuserMode:e:e:userModeuserMode:userMode::ruserMode:MuserModuseruserMode:Mode:e:useruserMode:useruserMode:Mode:Mode:ouserMode:duserMode:euseuserMode:rMode::ruserMode:tuserMouserMuserModeuseruserMode:Mode::ode:de:-ususeruserMode:Mode:erModeuserMode::>userModuserMode:e:uususerModeususerMode:erMode::euuuserMode:seuseruserMode:Mode:ruserMode:useuserMode:rMuserMode:ode:MuserMode:ode:seuserMode:rModususeruserModeuserMouserMode:de::Mode:erMouseruserMode:Mode:de:useruseuserMode:rMode:Mode:e:MuserMode:uuserMode:suserMode:useuserMode:ususerMode:erMode:rMouserMode:duseuseruserMode:Mode:ruserModeuserModeususerMode:erModeuserMode::::MouseususerMode:erMode:rMode:deuserMouserMode:de::e:erModeuseruseruserMode:Mode:Mode::ode::ususerMode:erModeuserMode::Mode)userMode:uuserMode:serMode:anuserMouserMode:deuseruserModeuserModuseruserMode:Mode:e::MouserMode:de::duserMuseruseruserMuserMode:ode:ModuserMode:e:ModuserMode:e:ouserMode:deuserususerMode:erMuseruserMode:Mode:ode:Mode:ususeuserMode:rMode:euserMode:rModeususerModuserMode:e:erMode:::(userMode:rt->uuserModususerMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:euseruuserMode:serModuserMode:e:userMode:MouserMode:de::uuserMode:userMode:suseruserMode:Mode:userModuserMode:e:erModuuserModeuserMode::serModuserMuserMode:odeuserModeuserMode:::euserMode::userModuserMouseruserMode:Mode:de:e:e:.cpp:	ususeruserMouserMode:duserMouserMode:dususerMode:erMode:e:e:Mode:eruuuserMode:suserMode:erMode:useruserMode:Mode:serMode:Mode:userModeuserMode::		userMuseususerModuseuserMode:rMode:e:erMode:ruserMode:ModeuserMode::ouserMuuseruserMode:Mode:seuserMode:rMode:ode:deuuseruserModeuserMode::MouserMuserMode:ode:duuserMode:seuserMode:rMode:e:useruserModeuseruserMode:Mode::Mode:suserMode:erMouserMode:de:userMode::		userMode:userMode:iuserMode:f(useuserMode:ruseuseuseruserMode:MouseruserMode:Mode:dususerMode:erMode:e:rususerMode:useuseruserModuserMode:e:ModeuserMode::ruserMode:Mode:erMode:MuserMode:useuserMode:ruseruserModeuserMode::Mode:Mode:oduseuserMode:rMode:e:rMouseuserMode:rMode:de:MuuserMode:seruserMode:MuserModeususerMode:euserMode:rModuseuserMode:ruserMode:Mode:userMode:e::ode:odeuserMode:userMouserMode:duserModususerMode:erMode:e:e:ususerModeuserMode::eruserModuserMode:e:useruseruserMode:Mode:Mode:MuserMode:ouserMouserMouserMode:de:de:de::rt->muuserMode:serMode:uuuserMouserMode:de:seruserMode:Mode:useuserMode:ruuserMode:suseruserMode:Mode:erMode:Mode:e:ModeuserMuserMode:useruseuserMode:rMode:Mode:odeuseuserMode:rModeuserMode::::userMode:rMode:euserMode:PauserMuseuseruserMode:Mode:rMode:ode:ramuseuserModuserModuserMode:e:e:rModeuserMode::eters(rt->a0userMode:useruserMode:MousususerMode:euuserMode:serModeuuseruserMode:Mode:serModuserMode:e::rMouserMode:deuserMode:userMode::euserMode:userMode:rMode:deuserMuuserMuserMode:odeuserMode::suserMouserModeuseruserMode:Mode::de:erModeususerMode:erMuserModeuserMode::ode::ode::userMode:,userMode:uuserModuuserMode:serMode:e:serModeuserModuserMouserModuseruserMode:Mode:eususerMode:erMode::duserMode:e:userMode:euuserMode:serMode:::rt->auseruserMode:Mode:2userMode:,ruuserModeuserMode::seruserModuseruserModeuserMode::Mode:userMode:euserMode:uuseususerMode:erMode:rMode:serMususerMode:erMode:ode::MuserMode:ouseruserususerModeuserMode::euususeuserMode:ruserMode:Mode:erMode:suserModeuserMode::eruseruserMode:ModuserMode:e:Mode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:userMode:serModuseruserMode:Mode:e:e:de:userMode:t->userMouserModuseuserMode:rMode:e:de:userMode:useuseruserModuserMode:e:ModuserMode:euserMode::ruserMode:ModeuseruserMode:ModuserMode:e::auuserMouseuserMuserMode:ode:rMuserMode:ode:userMode:duserMode:e:serMuserModeuserMouserMode:de::oduseruseuuseuserModuseruseuserMode:rMode:Mode:e:rMode:userMode:serMouserMode:duserMode:e:rMouseruserModuserModuserMode:e:userMode:e:ModeuserMouserMode:de::de:MuuuserMode:ususeruserMode:ModeuserMode::erMode:serMuserMode:ode:seuseuserMode:rMouserMode:de:rMode:ode:e:uuserMode:suserMouserMode:de:erMode:3useuuserMode:serMode:rMouseruseruserMode:Mode:Mode:de:,rtuseruuserMode:seruseruserModuseruserMode:ModuserModuserMode:e:e:e:Mode:ModuserMode:e:userMouserMode:de:userMode:Mode:ususerMode:euseruserModuserMode:e:Mode:rMode:-userMouserModeuserMode::de:>tf, 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uuseruserModeuserModuserMode:e::Mode:seuserususeuseruserMode:Mode:rMode:erModeuserMode::uuserMode:serMode:ModuserModuserMode:e:e:userModeuserMode:userMode::ruserMode:MuserModuseruserMode:Mode:e:useruserMode:useruserMode:Mode:Mode:ouserMode:duserMode:euseuserMode:rMode::ruserMode:tuserMouserMuserModeuseruserMode:Mode::ode:de:-ususeruserMode:Mode:erModeuserMode::>userModuserMode:e:uususerModeususerMode:erMode::euuuserMode:seuseruserMode:Mode:ruserMode:useuserMode:rMuserMode:ode:MuserMode:ode:seuserMode:rModususeruserModeuserMouserMode:de::Mode:erMouseruserMode:Mode:de:useruseuserMode:rMode:Mode:e:MuserMode:uuserMode:suserMode:useuserMode:ususerMode:erMode:rMouserMode:duseuseruserMode:Mode:ruserModeuserModeususerMode:erModeuserMode::::MouseususerMode:erMode:rMode:deuserMouserMode:de::e:erModeuseruseruserMode:Mode:Mode::ode::ususerMode:erModeuserMode::Mode)userMode:uuserMode:serMode:anuserMouserMode:deuseruserModeuserModuseruserMode:Mode:e::MouserMode:de::duserMuseruseruserMuserMode:ode:ModuserMode:e:ModuserMode:e:ouserMode:deuserususerMode:erMuseruserMode:Mode:ode:Mode:ususeuserMode:rMode:euserMode:rModeususerModuserMode:e:erMode:::(userMode:rt->uuserModususerMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:euseruuserMode:serModuserMode:e:userMode:MouserMode:de::uuserMode:userMode:suseruserMode:Mode:userModuserMode:e:erModuuserModeuserMode::serModuserMuserMode:odeuserModeuserMode:::euserMode::userModuserMouseruserMode:Mode:de:e:e:.cpp:	ususeruserMouserMode:duserMouserMode:dususerMode:erMode:e:e:Mode:eruuuserMode:suserMode:erMode:useruserMode:Mode:serMode:Mode:userModeuserMode::		userMuseususerModuseuserMode:rMode:e:erMode:ruserMode:ModeuserMode::ouserMuuseruserMode:Mode:seuserMode:rMode:ode:deuuseruserModeuserMode::MouserMuserMode:ode:duuserMode:seuserMode:rMode:e:useruserModeuseruserMode:Mode::Mode:suserMuserMode:ode:erMouserMode:de:userMode::		userMode:userMode:iuserMode:f(useuserMode:ruseuseuseruserMode:MouseruserMode:Mode:dususerMode:erMode:e:rususerMode:useuseruserModuserMode:e:ModeuserMode::ruserMode:Mode:erMode:MuserMode:useuserMode:ruseruserModeuserMode::Mode:Mode:oduseuserMode:rMode:e:rMouseuserMode:rMode:de:MuuserMode:seruserMode:MuserModeususerMode:euserMode:rModuseuserMode:ruserMode:Mode:userMode:e::ode:odeuserMode:userMouserMode:duserModususerMode:erMode:e:e:ususerModeuserMode::eruserModuserMode:e:useruseruserMode:Mode:Mode:MuserMode:ouserMouserMouserMode:de:de:de::rt->muuserMode:serMode:uuuserMouserMode:de:seruserMode:Mode:useuserMode:ruuserMode:suseruserMode:Mode:erMode:Mode:e:ModeuserMuserMode:useruseuserMode:rMode:Mode:odeuseuserMode:rModeuserMode::::userMode:rMode:euserMode:PauserMuseuseruserMode:Mode:rMode:ode:ramuseuserModuserModuserMode:e:e:rModeuserMode::eters(rt->a0userMode:useruserMode:MousususerMode:euuserMode:serModeuuseruserMode:Mode:serModuserMode:e::rMouserMode:deuserMode:userMode::euserMode:userMode:rMode:deuserMuuserMuserMode:odeuserMode::suserMouserModeuseruserMode:Mode::de:erModeususerMode:erMuserModeuserMode::ode::ode::userMode:,userMode:uuserModuuserMode:serMode:e:serModeuserModuserMouserModuseruserMode:Mode:eususerMode:erMode::duserMode:e:userMode:euuserMode:serMode:::rt->auseruserMode:Mode:2userMode:,ruuserModeuserMode::seruserModuseruserModeuserMode::Mode:userMode:euserMode:uuseususerMode:erMode:rMode:serMususerMode:erMode:ode::MuserMode:ouseruserususerModeuserMode::euususeuserMode:ruserMode:Mode:erMode:suserModeuserMode::eruseruserMode:ModuserMode:e:Mode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:userMode:serModuseruserMode:Mode:e:e:de:userMode:t->userMouserModuseuserMode:rMode:e:de:userMode:useuseruserModuserMode:e:ModuserMode:euserMode::ruserMode:ModeuseruserMode:ModuserMode:e::auuserMouseuserMuserMode:ode:rMuserMode:ode:userMode:duserMode:e:serMuserModeuserMouserMode:de::oduseruseuuseuserModuseruseuserMode:rMode:Mode:e:rMode:userMode:serMouserMode:duserMode:e:rMouseruserMouserMode:duserModuserMode:e:userMode:e:ModeuserMouserMode:de::de:MuuuserMode:ususeruserMode:ModeuserMode::erMode:serMuserMode:ode:seuseuserMode:rMouserMode:de:rMode:ode:e:uuserMode:suserMouserMode:de:erMode:3useuuserMode:serMode:rMouseruseruserMode:Mode:Mode:de:,rtuseruuserMode:seruseruserModuseruserMode:ModuserModuserMode:e:e:e:Mode:ModuserMode:e:userMouserMode:de:userMode:Mode:ususerMode:euseruserModuserMode:e:Mode:rMode:-userMouserModeuserMode::de:>tf, 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&userMode:& (userMode:rt->ususeuserModeuserMouserMode:deuserMode:::rMode:erEusuuserModeuserModeuserMode::userModeususeuseuserMode:rMode:rMode:euserMode:ruserMode:userMode:Mode:::serMuserMode:ouserMode:duserMode:euserMode::userModuserMode:e:erMouserMode:userMoususerMode:erMode:de:deuserMuserMode:ode::xit userMode:!=uuserMode:sususeruseususerModeuserMode::erMode:rMouseruserModeuserMode::Mode:deuserMode::ModeuseuserMode:rMode::erModeuserModeuserMode::userMode::euserMode:uuserMode:seruserMode:uuserModeuserMode::suserMode:eruseuserMode:rMode:ModeuserMode::Mode:ruseruseruserMode:userMode:Mode:MouseuserMode:rMouserMode:duserMode:e:de:MuseruserMode:Mode: 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rt->tuseuseruserMode:Mode:rususeuserususeruseruserMode:Mode:Mode:eruseuserMode:rMode:Mode:Mode:ruserususeuseruserMode:Mode:rModeuserMode::erModuserModeuserMode::e:Mode:useruserMode:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usuuseruserMode:Mode:suserMode:erMode:erMuseuserMode:rMode:ode:rMouseruserMode:Mode:dususeruserModeuseruserMode:ModeuserMode:::MouseruserMode:Mode:de:erMode:e:ModeuuseuserMode:rMode:seuseruseruseruserMode:Mode:Mode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:userMode:duseruserMode:Mode:e::f[userMode:1userMode:useuuserModuserMode:e:seuserususeruserMode:Mode:eruserMode:ModuserMode:e:MuserMode:ode:ruserMode:MouseuseruserMode:Mode:ruserMode:Mode:deuserMode::rModeuserMode::]useruserModuseruserMode:Mode:e:Mode:,userMode: 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uuseruserModeuserModuserMode:e::Mode:seuserususeuseruserMode:Mode:rMode:erModeuserMode::uuserMode:serMode:ModuserModuserMode:e:e:userModeuserMode:userMode::ruserMode:MuserModuseruserMode:Mode:e:useruserMode:useruserMode:Mode:Mode:ouserMode:duserMode:euseuserMode:rMode::ruserMode:tuserMouserMuserModeuseruserMode:Mode::ode:de:-ususeruserMode:Mode:erModeuserMode::>userModuserMode:e:uususerModeususerMode:erMode::euuuserMode:seuseruserMode:Mode:ruserMode:useuserMode:rMuserMode:ode:MuserMode:ode:seuserMode:rModususeruserModeuserMouserMode:de::Mode:erMouseruserMode:Mode:de:useruseuserMode:rMode:Mode:e:MuserMode:uuserMode:suserMode:useuserMode:ususerMode:erMode:rMouserMode:duseuseruserMode:Mode:ruserModeuserModeususerMode:erModeuserMode::::MouseususerMode:erMode:rMode:deuserMouserMode:de::e:erModeuseruseruserMode:Mode:Mode::ode::ususerMode:erModeuserMode::Mode)userMode:uuserMode:serMode:anuserMouserMode:deuseruserModeuserModuseruserMode:Mode:e::MouserMode:de::duserMuseruseruserMuserMode:ode:ModuserMode:e:ModuserMode:e:ouserMode:deuserususerMode:erMuseruserMode:Mode:ode:Mode:ususeuserMode:rMode:euserMode:rModeususerModuserMode:e:erMode:::(userMode:rt->uuserModususerMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:euseruuserMode:serModuserMode:e:userMode:MouserMode:de::uuserMode:userMode:suseruserMode:Mode:userModuserMode:e:erModuuserModeuserMode::serModuserMuserMode:odeuserModeuserMode:::euserMode::userModuserMouseruserMode:Mode:de:e:e:.cpp:	ususeruserMouserMode:duserMouserMode:dususerMode:erMode:e:e:Mode:eruuuserMode:suserMode:erMode:useruserMode:Mode:serMode:Mode:userModeuserMode:userMode::		userMuseususerModuseuserMode:rMode:e:erMode:ruserMode:ModeuserMode::ouserMuuseruserMode:Mode:seuserMode:rMode:ode:userMode:deuuseruserModeuserMode::MouserMuserMode:ode:duuserMode:seuserMode:rMode:e:useruserModeuseruserMode:Mode::Mode:suserMuserMode:ode:erMouserMode:de:userMode::		userMode:userMode:iuserMode:f(useuserMode:ruseuseuseruserMode:MouseruserMode:Mode:dususerMode:erMode:e:rususerMode:useuseruserModuserMode:e:ModeuserMode::ruserMode:Mode:erMode:MuserMode:useuserMode:ruseruserModeuserMode::Mode:Mode:oduseuserMode:rMode:e:rMouseuserMode:rMode:de:MuuserMode:seruserMode:MuserModeususerMode:euserMode:rModuseuserMode:ruserMode:Mode:userMode:e::ode:odeuserMode:userMouserMode:duserModususerMode:erMode:e:e:ususerModeuserMode::eruserModuserMode:e:useruseruserMode:Mode:Mode:MuserMode:ouserMouserMouserMode:de:de:de::rt->muuserMode:serMode:uuuserMouserMode:de:seruserMode:Mode:useuserMode:ruuserMode:suseruserMode:Mode:erMode:Mode:e:ModeuserMuserMode:useruseuserMode:rMode:Mode:odeuseuserMode:rModeuserMode::::userMode:rMode:euserMode:PauserMuseuseruserMode:Mode:rMode:ode:ramuseuserModuserModuserMode:e:e:rModeuserMode::eters(rt->a0userMode:useruserMode:MousususerMode:euuserMode:serModeuuseruserMode:Mode:serModuserMode:e::rMouserMode:deuserMode:userMode::euserMode:userMode:rMode:deuserMuuserMuserMode:odeuserMode::suserMouserModeuseruserMode:Mode::de:erModeususerMode:erMuserModeuserMode::ode::ode::userMode:,userMode:uuserModuuserMode:serMode:e:serModeuserModuserMouserModuseruserMode:Mode:eususerMode:erMode::duserMode:e:userMode:euuserMode:serMode:::rt->auseruserMode:Mode:2userMode:,ruuserModeuserMode::seruserModuseruserModeuserMode::Mode:userMode:euserMode:uuseususerMode:erMode:rMode:serMususerMode:erMode:ode::MuserMode:ouseruserususerModeuserMode::euususeuserMode:ruserMode:Mode:erMode:suserModeuserMode::eruseruserMode:ModuserMode:e:Mode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:userMode:serModuseruserMode:Mode:e:e:de:userMode:t->userMouserModuseuserMode:rMode:e:de:userMode:useuseruserModuserMode:e:ModuserMode:userMode:euserMode::ruserMode:ModeuseruserMode:ModuserMode:e::auuserMouseuserMuserMode:ode:rMuserMode:ode:userMode:duserMode:e:serMuseruserMode:ModeuserMouserMode:de::oduseruseuuseuserModuseruseuserMode:rMode:Mode:e:rMode:userMode:serMouserMode:duserMode:e:rMouseruserMouserMode:duserModuserMode:e:userMode:e:ModeuserMouserMode:de::de:MuuuserMode:ususeruserMode:ModeuserMode::erMode:serMuserMode:ode:seuseuserMode:rMouserMode:de:rMode:ode:e:uuserMode:suserMouserMode:de:erMode:3useuuserMode:serMode:rMouseruseruserMode:Mode:Mode:de:,rtuseruuserMode:seruseruserModuseruserMode:ModuserModuserMode:e:e:e:Mode:ModuserMode:e:userMouserMode:de:userMode:Mode:ususerMode:euseruserModuserMode:e:Mode:rMode:-userMouserModeuserMode::de:>tf, 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rt->tuseuseruserMode:Mode:rususeuserususeruseruserMode:Mode:Mode:eruseuserMode:rMode:Mode:Mode:ruserususeuseruserMode:Mode:rModeuserMode::erModuserModeuserMode::e:Mode:useruserMode:Mode:ModuseruserModuserMode:e:Mode:e:euserMode:usuuseruserMode:Mode:suserMode:erMode:erMuseuserMode:rMode:ode:rMouseruserMode:Mode:dususeruserModeuseruserMode:ModeuserMode:::MouseruserMode:Mode:de:erMode:e:ModeuuseuserMode:rMode:seuseruseruseruserMode:Mode:Mode:Mode:rMuseuserMode:ruserMode:Mode:ouserMode:userMode:duseruserMode:Mode:e::f[userMode:1userMode:useuuserModuserMode:e:seuserususeruserMode:Mode:eruserMode:ModuserMode:e:MuserMode:ode:ruserMode:MouseuseruserMode:Mode:ruserMode:Mode:deuserMode::rModeuserMode::]useruserModuseruserMode:Mode:e:Mode:,userMode: 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&userMode:& (userMode:rt->ususeuserModeuserMouserMode:deuserMode:::rMode:erEusuuserModeususerMode:erModeuserMode::userModeususeuseuserMode:rMode:rMode:euserMode:ruserMode:userMode:Mode:::serMuserMouserMode:de:ouserMode:duserMode:euserMode::userModuserMode:e:erMouserMode:userMoususerMode:erMode:de:deuserMuserMode:ode::xit userMode:!=uuserMode:sususeruseususerModeuserMode::erMode:rMouseruserModeuserMode::Mode:deuserMode::ModeuseuserMode:rMode::erModeuserModeuserMode::userMode::euserMode:uuserMode:seruserMode:uuserModeuserMode::suserMode:eruseuserMode:rMode:ModeuserMode::Mode:ruseruseruserMode:userMode:Mode:MouseuserMode:rMouserMode:duserMode:e:de:MuseruserMode:Mode: 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uuseruserModeuserModuserMode:e::Mode:seuserususeuseruserMode:Mode:rMode:erModeuserMode::uuserMode:serMode:ModuserModuserMode:e:e:userModeuserMode:userMode::ruserMode:MuserModuseruserMode:Mode:e:useruserMode:useruserMode:Mode:Mode:ouserMode:duserMode:euseuserMode:rMode::ruserMode:tuserMouserMuserModeuseruserMode:Mode::ode:de:-ususeruserMode:Mode:erModeuserMode::>userModuserMode:e:uususerModeususerMode:erMode::euuuserMode:seuseruserMode:Mode:ruserMode:useuserMode:rMuserMode:ode:MuserMode:ode:seuserMode:rModususeruserModeuserMouserMode:de::Mode:erMouseruserMode:Mode:de:useruseuserMode:rMode:Mode:e:MuserMode:uuserMode:suserMode:useuserMode:ususerMode:erMode:rMouserMode:duseuseruserMode:Mode:ruserModeuserModeususerMode:erModeuserMode::::MouseususerMode:erMode:rMode:deuserMouserMode:de::e:erModeuseruseruserMode:Mode:Mode::ode::ususerMode:erModeuserMode::Mode)userMode:uuserMode:serMode:anuserMouserMode:deuseruserModeuserModuseruserMode:Mode:e::MouserMode:de::duserMuseruseruserMuserMode:ode:ModuserMode:e:ModuserMode:e:ouserMode:deuserususerMode:erMuseruserMode:Mode:ode:Mode:ususeuserMode:rMode:euserMode:rModeususerModuserMode:e:erMode:::(userMode:rt->uuserModususerMode:eruseruserMode:Mode:ModeususerMode:erMode::userMode:euseruuserMode:serModuserMode:e:userMode:MouserMode:de::uuserMode:userMode:suseruserMode:Mode:userModuserMode:e:erModuuserModeuserMode::serModuserMuserMode:odeuserModeuserMode:::euserMode::userModuserMouseruserMode:Mode:de:e:e:.cpp:	ususeruserMouserMode:duseruserMode:MouserMode:dususerMode:erMode:e:e:Mode:eruuuserMode:suserMode:erMode:useruserMode:Mode:serMode:Mode:userModeuserMode:userMode::		userMuseususerModuseuserMode:rMode:e:erMode:ruserMode:ModeuserMode::ouserMuuseruserMode:Mode:seuserMode:rMode:ode:userMode:deuuseruserModeuserMode::MouserMuserMode:ode:duuserMode:seuserMode:rMode:e:useruserModeuseruserMode:Mode::Mode:suserMuserMode:ode:erMouserMode:de:userMode::		userMode:userMode:iuserMode:f(useuserMode:ruseuseuseruserMode:MouseruserMode:Mode:dususerMode:erMode:e:rususerMode:useuseruserModuserMode:e:ModeuserMode::ruserMode:Mode:erMode:MuserMode:useuserMode:ruseruserModeuserMode::Mode:Mode:oduseuserMode:rMode:e:rMouseuserMode:rMode:de:MuuserMode:seruserMode:MuserModeususerMode:euserMode:rModuseuserMode:ruserMode:Mode:userMode:e::ode:odeuserMode:userMouserMode:duserModususerMode:erMode:e:e:ususerModeuserMode::eruserModuserMode:e:useruseruserMode:Mode:Mode:MuserMode:ouserMouserMouserMode:de:de:de::rt->muuserMode:serMode:uuuserMouserMode:de:seruserMode:Mode:useuserMode:ruuserMode:suseruserMode:Mode:erMode:Mode:e:ModeuserMuserMode:useruseuserMode:rMode:Mode:odeuseuserMode:rModeuserMode::::userMode:rMode:euserMode:PauserMuseuseruserMode:Mode:rMode:ode:ramuseuserModuserModuserMode:e:e:rModeuserMode::eters(rt->a0userMode:useruserMode:MousususerMode:euuserMode:serModeuuseruserMode:Mode:serModuserMode:e::rMouserMode:deuserMode:userMode::euserMode:userMode:rMode:deuserMuuserMuserMode:odeuserMode::suserMouserModeuseruserMode:Mode::de:erModeususerMode:erMuserModeuserMode::ode::ode::userMode:,userMode:uuserModuuserMode:serMode:e:serModeuserModuserMouserModuseruserMode:Mode:eususerMode:erMode::duserMode:e:userMode:euuserMode:serMode:::rt->auseruserMode:Mode:2userMode:,ruuserModeuserMode::seruserModuseruserModeuserMode::Mode:userMode:euserMode:uuseususerMode:erMode:rMode:serMususerMode:erMode:ode::MuserMode:ouseruserususerModeuserMode::euususeuserMode:ruserMode:Mode:erMode:suserModeuserMode::eruseruserMode:ModuserMode:e:Mode:rModeuseruserMode:Mode::Mode:MuserMode:oduuserMode:userModeuserMode::serModuseruserMode:Mode:e:e:de:userMode:t->userMouserModuseuserMode:rMode:e:de:userMode:useuseruserModuserMode:e:ModuserMode:userMode:euserMode::ruserMode:ModeuseruserMode:ModuserMode:e::auuserMouseuserMuserMode:ode:rMuserMode:ode:userMode:duserMode:e:serMuseruserMode:ModeuserMouserMode:de::oduseruseuuseuserModuseruseuserMode:rMode:Mode:e:rMode:userMode:serMouserMode:duserMode:e:rMouseruserMouserMode:duserModuserMode:e:userMode:e:ModeuserMouserMode:de::de:MuuuserMode:ususeruserMode:ModeuserMode::erMode:serMuserMode:ode:seuseuserMode:rMouserMode:de:rMode:ode:e:uuserMode:suserMouserMode:de:erMode:3useuuserMode:serMode:rMouseruseruserMode:Mode:Mode:de:,rtuseruuserMode:seruseruserModuseruserMode:ModuserModuserMode:e:e:e:Mode:ModuserMode:e:userMouserMode:de:userMode:Mode:ususerMode:euseruserModuserMode:e:Mode:rMode:-userMouserModeuserMode::de:>tf, 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&userMode:& (userMode:rt->ususeuserModeuserMouserMode:deuserMode:::rMode:erEusuuserModeususerMode:erModeuserMode::userModeususeuseuserMode:rMode:rMode:euserMode:ruserMode:userMode:Mode:::serMuserMouserMode:de:ouserMode:duserMode:euserMode::userModuserMode:e:erMouserMode:userMoususerMode:erMode:de:deuserMuserMode:ode::xit userMode:!=uuserMode:sususeruseususerModeuserMode::erMode:rMouseruserModeuserMode::Mode:deuserMode::ModeuseuserMode:rMode::erModeuuserMode:serModeuserMode::userMode::euserMode:uuserMode:seruserMode:uuserModeuserMode::suserMode:eruseuserMouserMode:de:rMode:ModeuserMode::Mode:ruseruseruserMode:userMode:Mode:MouseuserMode:rMouserMode:duserMode:e:duserMode:e:MuseruserMode:Mode: 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userMouserMode:de:rt->q[iuserMode:]userMode:ususeruserModuserModuserMode:euserMode::e:Mode:erMuserMode:oduserMode:e:usuuseruuserMode:serMode:ModuserModeususerMode:erMode::e:userMode:suserMode:erMode:erModuserMode:euseuseuserMode:rususerMode:erMuserMode:ode:Mode:rMuserModeuserMode:userususeruserMode:ModuserMode:e:euserMode:rMode:ModeuserMode:::ouseuserMode:rMode:deuseususerMode:eruseuseuseruserModuseuserMode:rMode:e:ModususerMode:erMode:e:rMode:rMuserModuserMode:e:oduserMode:ususerMode:eruserMode:userMode:ModeuserMode::euserMode::Mode:rMode:::userMode:)uuserususeruserMode:Mode:erMode:ModeuserususeruserMode:Mode:erMode:Mode::suuserMode:serMode:useruserMode:MouseuserMode:rModeuserMode::deuserMode::eruuuserMode:seuserMode:rMuseuserModeuserMode::ruseruserMode:MouserMode:de:Mode:userMode:oduseruserModeuserMode::MuserMode:odeuseruserMode:Mode::userMode:euserModuserModeuserMode::e::seuserMode:rMuserMouserMode:duserMode:e:ouseruseuserMode:rMode:Mode:deuserModuserMode:euserMode::userModeususerMode:eruserMode:userMode:MuserMode:ode:::Mode:userModeususerMode:erMode::/(userMode:ruserMode:t->tfususeruuserMode:serModeuserMode::MouserMode:de:userMode:erMuserModuseruserMuserMode:ode:MouseruserMode:ModuserMode:e:duserMode:e:e:odeuseuserMode:rususeuserMode:rMode:erModuuuserMode:seruserMode:Mode:seuseuserMode:rMode:useruususerMode:erMode:seruseruseuserModuserMode:e:rMuserMode:oduserMode:e:Mode:ModeuserMode::ModuserMode:e:userMode:rModeususeruseuserMode:rMode:MouseruserMode:Mode:de:erMode::userususeruserMode:Mode:erMode:Mode:euuuserMode:seruserMode:Mode:serModuseuserMode:rModeuserMode::e:userMode::ModeuserMode:::[iuseruserModeuserModeuserMode:::ModeuserMode::]userMode:*rt-useruserMode:MuseruuserModeuserMode::suserMode:erMode:Mode:odeuserModuserMode:euserModuserMode:e:::>useuserMode:useruseruserMouserMode:duserMode:e:Mode:ModuserMode:e:rMode:tfusuuserModeuserMode::seruseruserMode:ModuserMode:e:userMode:Mode:euuseuserMode:rModeuserMouserModeuserMode::duuserMode:suserModuserMode:e:eruserMode:MuserMode:ode:e::userMode:seruserMode:ModeuseruserMode:Mode:userMode::rModeususerMode:eruserMode:ModuserMode:e::userMuserMode:ode:[i]*rt->ususeuseuserMode:rMode:ruserMouserMode:de:Mode:userMode:erMode:useuuseuserModeuserMode::rMode:serususerMode:erMode:ModuserModuserMode:e:e:userMode:rMuserMouserMode:de:odeuserModuserMode:euserMode::usuususerMode:eruserMode:ModuserMode:e:serModuseruserMode:Mode:e:euserMode:ruseuserMode:ruserModususerMode:erMode:e:ModuseuserMode:rMode:e:userMode:Mode::useuserMode:rModeuseuseruserMode:Mode:rMode::tuuseruuserMode:serMode:Mode:seuuserModeuserMode::serModeuseruserMuserMode:odeuserMode::ModuuserMode:rMode:	userMode:rt-useuuserMode:serModuserModeuserMode:uuserMode:seuserModeuuserMode:serMode::ruuserMode:seruserMode:Mode:Mode::e:rMouuserMouserMode:deuserMode::suuserMode:seruserMode:Mode:eruserMode:ModeuserMode::de:ususeuseuserMode:rMode:rMode:euserModeuuuserMode:serMode:userMode:serModuserMode:userususerMode:euseuserMode:rMode:rMode:ModeuserMode:userMouserMode:de::e:uuserMode:suserMode:erMode::rMode:userMode:ususeuserMode:rMode:euseuseruserMode:Mode:rMuserMode:ode:userMode:ruseuserModuserModeuserMode::e:rususerModeuserMode:ususerMode:eruseruserMode:Mode:Mode::ususerMode:erModuserMode:e:erMouuserMode:seruseruserMode:MuserMode:useruserMode:ModuseruserMode:ModeuuserMode:serMode::e:ouserMode:deuserMode::MuserMode:odeuseuuserMuserMode:oduserModeuseruserMode:ModuserMode:e::e:suseruserMode:Mode:erMode:useruserMouserMode:de:Mode:rMouserMode:deuuserMode:serMode:userMode:::useruserMode:Mode:userMode:duserMode:ususeruserMuserMode:userMode:oduserModeususerModeususerMode:euserMode:rMode::eruseususerMode:erMode:rMode:MuserMode:ode::e:useuserMode:rMuserMode:ode:userMode:Mode:erModeuserModeuserMode:::e:ususerMode:euserModuserMode:e:rMode:ModuseuserMode:ruuserMuserMode:ode:suserMode:erMode:userMode:de:useruserMode:userModeuserModuserMode:e::Mode:userMode:(1uuserMode:serMode:) &userMode:& (userMode:rt->ususeuserModeuserMouserMode:deuserMode:::rMode:erEusuuserModeususerMode:erModeuserMode::userModeususeuseuserMode:rMode:rMode:euserMode:ruserMode:userMode:Mode:::serMuserMouserMode:de:ouserMode:duserMode:euserMode::userModuserModeuserMode::e:erMouserMode:userMoususerMode:erMode:de:deuserMuserMode:ode::xit userMode:!=uuserMode:sususeruseuserMode:ususerModeuserMode::erMode:rMouseruserModeuserMode::Mode:deuserMode::ModeuseuserMode:rMode::erModeuuserMode:serModeuserMode::userMode::euserMode:uuserMode:seruserMode:uuserModeuserMode::suserMode:eruseuserMouserMode:de:rMode:ModeuserMode::Mode:ruseruseruserMode:userMode:Mode:MouseuserMode:rMouserMode:duserMode:e:duserMode:e:MuseruserMode:Mode: 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&userMode:& (userMode:rt->ususeuserModeuserMouserMode:deuserMode:::rMode:erEusuuserModeususerMode:erModeuserMode::userModeususeuseuserMode:rMode:rMode:euseruserMode:Mode:ruserMode:userMode:Mode:::serMuserMouserMode:de:ouserMode:duserMode:euserMode::userModuserModeuserMode::e:erMouserMode:userMoususerMode:erMode:de:deuserMuserMode:ode::xit userMode:!=uuserMode:sususeruseuserMode:ususerModeuserMode::erMode:rMouseruserModeuserMode::Mode:deuserMode::ModeuseuserMode:rMode::erModeuuserMode:serModeuserMode::userMode::euserMode:uuserMode:seruserMode:uuserModeuserMode::suserMode:eruseuserMouserMode:de:rMode:ModeuserMode::Mode:ruseruseruserMode:userMode:Mode:MouseuserMode:rMouserMode:duserMode:e:duserMode:e:MuseruserMode:Mode: 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